A 12 modules caterpillar robot (
click to enlarge)
Introduction
 Work in progress.
|
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
Session 3: Software installation
Session 4: Servo controlling
- Introduction to servo controlling
- Test the C programs for positioning the servos
- Control model: Sinusoidal generators
- Experiment 1: "The 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 2: "The bit wave". 30 modules on the ground generating a big wave. They are grouped in 10 groups. Each group with 1 Skycube + 3 modules
| Work in progress.
|
Session 5: Locomotion in 1D (I)
- Building the PP minimal configuration (10 robots)
- Experiments on the locomotion of the PP minimal configuration
- Building the PPP configuration
- Locomotion experiments
| Work in progress.
|
Session 6: Locomotion in 1D (II)
| Work in progress.
|
Session 7: Locomotion in 2D (I)
| Work in progress.
|
Session 8: Locomotion in 2D (II)
| Work in progress.
|
Session 9: Experiments
| Work in progress.
|
Session 10: Conclusions and future work
| Work in progress.
|
Repository
The latest version can obtained typing:
svn co http://svn.iearobotics.com/MR_workshop/trunk
Authors
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
- Feb/19th/2011: This page is started
Work in progress.
This work is licensed under a Creative Commons Attribution-ShareAlike License.
