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** Control model: Sinusoidal generators
 
** Control model: Sinusoidal generators
 
** Experiment 1: "The big wave". 10 isolated modules on the ground will oscillate generating a wave. The shape of the emerging wave depend on the local oscillator parameters
 
** Experiment 1: "The big wave". 10 isolated modules on the ground will oscillate generating a wave. The shape of the emerging wave depend on the local oscillator parameters
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 +
=== Day 3 ===
 +
 +
* First Challenge! Building a 30 module catepillar
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 +
* '''Session 5''': Locomotion in 1D (I)
 +
** Building the PP minimal configuration (We will build 10 robots)
 +
** Experiments on the locomotion of the PP minimal configuration
 +
** Building the PPP configuration
 +
** Locomotion experiments
 +
 +
* '''Session 6''': Locomotion in 1D (II)
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** Challenge!: To build
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** Build the 6 module pitch-pitch configurations (by joining the two PPP configurations)
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** Locomotion experiments
 +
** Build a 12 modules pitch-pitch configuration
 +
** Experiments
 +
** Build a 24 module configuration
 +
** Experiments
 +
** Build the 30 modules catepillar
 +
 +
=== DAY 4 ===
 +
 
 +
* Second challenge! Building a 30-module snake!!
 +
 +
* '''Session 7''': Locomotion in 2D (I)
 +
** Building the PYP PYP minimal configuration
 +
** Explanation of all the locomotion gaits and how to achieve them
 +
** Building a 6 modules pitch-yaw configuration
 +
** Locomotion experiments
 +
 +
* '''Session 8''':
 +
** Building a 9 module pitch-yaw snake (there will be three of them)
 +
** Locomotion experiments
 +
** Building a 18 pitch-yaw snake
 +
** Experiments
 +
** Building a 30 pitch-yaw snake!
 +
 +
=== DAY 5 ===
 +
 +
* '''Session 9''': Pending task, resolve questions, complete the unfinished experiments
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 +
* '''Session 10''': Conclusions and future work
  
 
== News ==
 
== News ==

Revisión del 04:26 19 feb 2011

Introduction

Programme

Day 1

  • Session 1: Introduction
    • About ourselves
    • Introduction to modular robotics
    • Overview of the training on modular snake robots
  • Session 2: Building the MY1 modules
    • All the 30 modules will be built
    • Preparing the battery holders (some cables have to be soldered)
    • Preparing the download cables
    • Building 10 Unimods (Unimod = one module + electronics + batteries)
    • Testing everything

Day 2

  • Session 3: Software installation
    • All the software tools will be installed: PIC C compiler, IDE for programming (Codeblock), Software for downloading (pydownloader)
    • Examples of downloading into the electronics boards
    • "Hello world" programming example: compile, download and test the blinking led program
  • Session 4: Servo controlling
    • Introduction to servo controlling
    • Test the C programs for positioning the servos
    • Control model: Sinusoidal generators
    • Experiment 1: "The big wave". 10 isolated modules on the ground will oscillate generating a wave. The shape of the emerging wave depend on the local oscillator parameters

Day 3

  • First Challenge! Building a 30 module catepillar
  • Session 5: Locomotion in 1D (I)
    • Building the PP minimal configuration (We will build 10 robots)
    • Experiments on the locomotion of the PP minimal configuration
    • Building the PPP configuration
    • Locomotion experiments
  • Session 6: Locomotion in 1D (II)
    • Challenge!: To build
    • Build the 6 module pitch-pitch configurations (by joining the two PPP configurations)
    • Locomotion experiments
    • Build a 12 modules pitch-pitch configuration
    • Experiments
    • Build a 24 module configuration
    • Experiments
    • Build the 30 modules catepillar

DAY 4

  • Second challenge! Building a 30-module snake!!
  • Session 7: Locomotion in 2D (I)
    • Building the PYP PYP minimal configuration
    • Explanation of all the locomotion gaits and how to achieve them
    • Building a 6 modules pitch-yaw configuration
    • Locomotion experiments
  • Session 8:
    • Building a 9 module pitch-yaw snake (there will be three of them)
    • Locomotion experiments
    • Building a 18 pitch-yaw snake
    • Experiments
    • Building a 30 pitch-yaw snake!

DAY 5

  • Session 9: Pending task, resolve questions, complete the unfinished experiments
  • Session 10: Conclusions and future work

News

Obtenido de «http://iearobotics.com/wiki/index.php?title=Training_on_modular_snake_robots&oldid=10936»