2013-07-02:Let's build a modular snake robot

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Revisión del 09:03 20 oct 2013 de Obijuan (Discusión | contribuciones) (→‎Related publications)

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Information

Abstract

This is the session 1 of the 2013 Microbotics Summer Workshop organized by the Electronic Technology department at University of Malaga. In this session, a printable modular snake robot, consisting of 9 modules is assembled and the main locomotion principles are presented.

BILL of Materials

  • 10 Repyz pro modules, already assembled
  • 3 Skymega boards, Arduino compatibles. These boards are used only during the session 1 for showing the different locomotion gais. In the following session the students had to program the EZ430-RF2500 boards, connected to some extension boards that include connectors for the servos and the sensors.
  • 3 battery holders (for 4 AAA batteries) already assembled
  • 3 pairs of mounting brackets for attaching the battery holders to the modules
  • 60 M3x10 mm bolts
  • 60 M3 nuts

Download

Slides

2013-07-01-Modular-snake-robots-Malaga.odp Slides (Sources, for Libre-office 4.0)
2013-07-01-Modular-snake-robots-Malaga.pdf Slides in PDF

Software

Before using this software, make sure you have installed the Ardusnake Library

Unimod_test1.ino Example 1: different oscillations of 1 module. The oscillation changes when the test button is pressed
Unimod_test2.ino Example 2: Oscillation of 2 modules. The phase difference is changed when the test button is pressed
wave.ino Example 3: The wave. 9 independent modules are oscillation so that a wave is generated
pp_test.ino Example 4: Locomotion of the pitch-pitch minimal configuration. When the test button is pressed, the gait is changed
pyp_gaits.ino Example 5: Locomotion of the pitch-yaw-pitch minimal configuration. When the test button is pressed, the gait is changed
py6.ino Example 6: Locomotion of a 6 module pitch-yaw snake

Git repository

Video

300|250</youtube>

Courtesy of Malakabot. Many thanks!

Pictures

Flickr Album
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From left to right: Juan Robles de Toro, José María Torralba, Federico Coca Caba, Obijuan, Juan Carlos Joya Clarés and Enrique Norro Gañan (Click to enlarge)
Notes taken by Cristina Urdiales during the talk. Amazing drawings!!! Thanks Cristina!! :-) (Click to enlarge)

Related publications

Avinash Ranganath, Juan Gonzalez-Gomez, Luis Moreno Lorente (2011), "A Distributed Neural Controller for Locomotion in Linear Modular Robotic Configurations", Book chapter (VII), ISBN: 978-84-7484-238-8. Centro de automática y Robótica CSIC-UPM, pp. 129-144.

(PDF) (On-line) (More information)

Juan González-Gómez, Javier González-Quijano, Houxiang Zhang, Mohamed Abderrahim (2010),"Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos", Capítulo de Libro (20), ISBN: 978-84-614-5558-4. Centro de Automática y Robótica CSIC-UPM, pp. 335-353

(PDF) (online) More information

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.), pp. 1-16, ISBN: 978-953-307-040-7, InTech

(PDF) (On line)

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) (On line in Scribd) (More information )

Juan Gonzalez-Gomez, "Modular Robotics and Locomotion: Application to Limbless robots". PhD Thesis. Universidad Autónoma de Madrid. November-2008 (Translated into English)

(PDF) (On line in Scribd) (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)

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, 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. I.S.B.N 978-1-4244-4195-2

(PDF) (On-line in Scribd) ( More Information)

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) (On-line in scribd)

Juan Gonzalez-Gomez, "Robótica Modular y Locomoción: Aplicación a Robots Ápodos". Tesis doctoral. Universidad Autónoma de Madrid. Noviembre-2008

(PDF) (En línea en Scribd) (Más información)

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. I.S.B.N. 978-1-4244-2495-5

(PDF) (On line in scribd)

J. 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. I.S.B.N 978-3-902613-15-8.

(PDF) (On-line in scribd) (More Information)

H. X. Zhang, J. Gonzalez-Gomez, S.Y. Chen, W. Wang, R. Lin, D. Li, J.W. Zhang. A Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers. IEEE/ASME International Conference on Advanced Intelligent Mechatronics. AIM2007. ETH Zurich, September 4-7, 2007, Switzerland. I.S.B.N. 978-1-4244-1264-1

(PDF) (On-line in scribd) (More Information)

More information

Modules

Other

Sobre Robots modulares

Sobre impresoras 3D

Sobre herramientas libres de diseño

  • OpenScad: Herramienta libre para diseño de piezas
  • Kicad: Herramienta libre para diseño de circuitos
  • Freecad: Herramienta libre de CAD
  • OOML: Object Oriented Mechanics. Mecánica orientada a Objetos

Crédits

License

Cc logo.png This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 Spain License.

Acknowledgment

News

  • 08/Sep/2013: This page is started


Proyecto Clone wars

Proyecto Clone wars: Construye tu impresora 3D opensource!
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Obijuan Academy, Tu academia rebelde! ;-)
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