OpenMR: Modular Robots plug-in for Openrave

Simulating the locomotion of the Minicube-I modular robot

Introduction

OpenMR is an OpenRave Modular Robots plug-in for simulating the locomotion of modular robots.

Controllers hierarchy

The controllers are hierarchical. At the lowest level there are the controllers that interact directly with the joints, seting their current torque, position or velocity. Typicall level 0 controllers are: P, PD, PID...

Level 1 controllers set the sequence of reference signals for the level 0 controller in order for the robot to move. Examples of this kind of controllers are gait control tables, sinusoidal generators, central patter generators, neural controllers and so on.

Level 1

• Neuralcontroller
• Generic controller
• Harmonic controller
• Sinusoidal controller
• Others...

Installation and setup

• Install OpenMR

Running the Examples

• Running the Examples

Videos

300|250</youtube> Locomotion of the Minicube-I modular robot Direct link to the video in Youtube

Mailing list

• Openrave-user mailing list

Repository

svn co http://svn.iearobotics.com/openmr/trunk  openmr

License

This code is under the GPLv3 license

Author

Juan Gonzalez-Gomez

Links

• Openrave
• Y1 modules
• Modular Robotics and Locomotion: Application to Limbless robots. PhD Thesis

News

• 2010/03/08: This page is started