Diferencia entre revisiones de «Training on modular snake robots»

Revisión del 11:38 19 feb 2011

A 12 modules caterpillar robot (click to enlarge)

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

Sessions

Session 1: Introduction

Work in progress.

Session 2: Building the MY1 modules

• Assembling the MY1 modules. 30 modules should be assembled.
• Mounting the battery pack. 10 battery packs should be mounted.
• Preparing the download cable. 5 download cable should be mounted

Work in progress.

Authors

• Prof. Dr. Houxiang Zhang. University of Hamburg, Germany
• Dr. Juan Gonzalez-Gomez. Robotics Lab. Universidad Carlos III de Madrid. Spain
• Andres Prieto-Moreno. Universidad Autonoma de Madrid. Spain

License

This work is licensed under a Creative Commons Attribution-ShareAlike License.

References

• Juan Gonzalez-Gomez, "Modular Robotics and Locomotion: Application to Limbless robots". PhD dissertation. Universidad Autonoma de Madrid. Nov/2008. (More information)

• Juan Gonzalez-Gomez, Houxiang Zhang and Eduardo Boemo, "Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots". Chapter 24 of the Book: Bioinspiration and Robotics: Walking and Climbing Robots, pp. 403-428. Published by Advanced Robotics Systems International and I-Tech Education and Publishing. Vienna, Austria. September 2007. (More Information)

• Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo and Jianwei Zhang, "Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules",Proc. of the 9th International Conference on Climbing and Walking Robots. Clawar06, pp. 150-157. Brussels, September 2006. (More Information)

• Juan Gonzalez-Gomez and E. Boemo, "Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift", Proc. of the 8th International Conference on Climbing and Walking Robots. CLAWAR, pp. 667-674. London, September 2005. (More Information)

• Houxiang Zhang, Juan Gonzalez-Gomez, Zhizhu Xie, Sheng Cheng, Jianwei Zhang. " Development of a Low-cost Flexible Modular Robot GZ-I". Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronlics, pp. 223-228, Xi'an, China, 4 - 7 June. (PDF)

• Houxiang Zhang, Juan Gonzalez-Gomez, S.Y. Chen, Jianwei Zhang. "Embedded Intelligent Capability of a Modular Robotic System".Proceeding of IEEE Robio2008, Bangkok, Thailand, Dec. 2008. (PDF)

• Houxiang Zhang, Juan González-Gómez, Jianwei Zhang. "A New Application of Modular Robots on Analysis of Caterpillar-like Locomotion". Proceedings of the 2009 IEEE International Conference on Mechatronics, Malaga, Spain, 14-17 April. (More Information)

• G. Salvietti, H.X. Zhang, J. Gonzalez-Gomez, D. Prattichizzo, and J.W. Zhang. "Task Priority Grasping and Locomotion Control of Modular Robot". In Proc. IEEE Int. Conf. on Robotics and Biomimetics, Guilin, China, December 2009. (PDF)

• Juan Gonzalez-Gomez, Javier Gonzalez-quijano, Houxiang Zhang, Mohamed Abderrahim, "Toward the sense of touch in snake modular robots for search and rescue operations". In Proc of the ICRA 2010 workshop on modular robots: State of the art. pp. 63-68, May-3rd, Anchorage, Alaska. (PDF)

• Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez, Jianwei Zhang. "Design and Realization of a Novel Modular Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers". Advanced Robotics. Volume 23, Numbers 7-8, 2009 , pp. 889-906.

• Houxiang Zhang, Wei Wang, Juan Gonzalez-Gomez and Jianwei Zhang (2010), "A bio-inspired small-sized wall-climbing caterpillar robot", Book chapter (1), Mechatronic Systems Applications, Annalisa Milella Donato Di Paola and Grazia Cicirelli (Ed.), ISBN: 978-953-307-040-7, InTech (PDF)

News

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