2013-07-02:Let's build a modular snake robot
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Revisión del 09:41 20 oct 2013 de Obijuan (Discusión | contribuciones) (→Other workshops on modular robots)
Contenido
Information
- Tittle: Let's build a modular snake robot
- Event: Microbotics summer Workshop. From 2nd to 6th of July 2013
- Place: ETSIT. Universidad de Malaga
- Speaker: Juan González Gomez
- Students: 20
- Hours: 6 (session 1)
- Date: 02/Julio/2013
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 |
|---|
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 | ||||||||
| 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 | ||||||||
| 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) | ||||||||
| 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 | ||||||||
| 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. | ||||||||
| 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 | ||||||||
| J. 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 | ||||||||
| Gonzalez-Gomez, J. ,Gonzalez, I. ,Gomez-Arribas F.J. and Boemo, E. Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors, In Lecture Notes in computer Science, vol.3985, pp. 24-29. I.S.S.N: 3-540-36708-X | ||||||||
| Gonzalez-Gomez, J. and Boemo, E. 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. I.S.B.N: 3-540-26413-2 | ||||||||
| J. Gonzalez-Gomez, I. Gonzalez, FJ. Gomez-Arribas y E. Boemo, Evaluación de un Algoritmo de Locomoción de Robots Ápodos en Diferentes Procesadores Embebidos en FPGA, V Jornadas de Computacion Reconfigurable y Aplicaciones. JCRA 2005. Dentro del Primer Congreso Espanol de Informatica, CEDI 2005, pp. 109-116. Granada, Septiembre 2005. I.S.B.N: 84-9732-439-0 (PDF) (En línea en Scribd) (Más Información) | ||||||||
| Gonzalez-Gomez, J, Aguayo E. and Boemo E.,Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor, Proc. of the 7th International Conference on Climbing and Walking Robots, CLAWAR 2004, pp. 869-878, CSIC, Madrid (spain). September, 2004. I.S.B.N: 3-540-22992-2. (PDF) (On-line in Scribd) (More Information) | ||||||||
| González-Gómez, J, Aguayo E. y Boemo E.,Locomoción de un Robot Ápodo Modular con el Procesador MicroBlaze, IV Jornadas sobre Computación Reconfigurable y Aplicaciones, JCRA04, Escuela Técnica Superior de Ingenierías. Universidad Autónoma de Barcelona, Septiembre 2004, pp. 675-681. I.S.B.N: 846887667-4. (PDF) (En línea en Scribd) (Más Información)
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