Training on modular snake robots
De WikiRobotics
Revisión del 05:04 19 feb 2011 de Obijuan (Discusión | contribuciones)
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
- Feb/19th/2011: This page is started