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== BILL of Materials ==
 
== BILL of Materials ==
  
* 10 [http://www.thingiverse.com/thing:98864 Repyz pro modules], already assembled
+
* 10 [https://github.com/Obijuan/REPYZ 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 [http://processors.wiki.ti.com/index.php/EZ430-RF2500 EZ430-RF2500] boards, connected to some extension boards that include connectors for the servos and the sensors.
+
* 3 [http://www.thingiverse.com/thing:14197 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 [http://processors.wiki.ti.com/index.php/EZ430-RF2500 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 [http://www.thingiverse.com/thing:5079 battery holders] (for 4 AAA batteries) already assembled
* 3 pairs of mounting parts for attaching the battery holders to the modules
+
* 3 pairs of [https://github.com/Obijuan/3D-parts/tree/master/repyz-battery-holder-brackets mounting brackets] for attaching the battery holders to the modules
 
* 60 M3x10 mm bolts
 
* 60 M3x10 mm bolts
 
* 60 M3 nuts
 
* 60 M3 nuts
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|| Slides in PDF
 
|| Slides in PDF
 
|------
 
|------
 +
| [http://www.slideshare.net/obijuan_cube/lets-build-modular-robots on-line]
 +
|| Read on-line in Slideshare
 
|}
 
|}
  
 
=== Software ===
 
=== Software ===
 +
 +
Before using this software, make sure you have installed the  [[ArduSnake:_Arduino_Modular_Snake_Robots_Library|Ardusnake Library]]
  
 
{| {{tablabonita}}
 
{| {{tablabonita}}
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|| Example 5: Locomotion of the pitch-yaw-pitch minimal configuration. When the test button is pressed, the gait is changed
 
|| Example 5: Locomotion of the pitch-yaw-pitch minimal configuration. When the test button is pressed, the gait is changed
 
|------
 
|------
|  []
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|  [https://github.com/Obijuan/ArduSnake/blob/master/Workshops/2013-07-02-microbotics-summer-Malaga/examples/py6/py6.ino py6.ino]
||
+
|| Example 6: Locomotion of a 6 module pitch-yaw snake
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 +
 +
== Git repository ==
 +
 +
* https://github.com/Obijuan/ArduSnake/tree/master/Workshops/2013-07-02-microbotics-summer-Malaga
  
 
== Video ==
 
== Video ==
Línea 80: Línea 73:
 
|}
 
|}
  
Courtesy of Malakabot. Many thanks!
+
Courtesy of [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot]. Many thanks!
  
 
== Pictures ==
 
== Pictures ==
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{| class="wikitable"
 
{| class="wikitable"
| [[Archivo:Repyz-snake-1.jpg|200px|thumb|  (''Click para ampliar'')]]  
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| [[Archivo:Repyz-snake-1.jpg|200px|thumb|  (''Click to enlarge'')]]  
| [[Archivo:Malaga-2013-summer-workshop-2.jpg|300px|thumb|  (''Click para ampliar''))]]
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| [[Archivo:Malaga-2013-summer-workshop-2.jpg|300px|thumb|  (''Click to enlarge'')]]
 
|--------
 
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|[[Archivo:Malaga-2013-summer-workshop-3.jpg|300px|thumb|  (''Click para ampliar'')]]  
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|[[Archivo:Malaga-2013-summer-workshop-3.jpg|300px|thumb|  (''Click to enlarge'')]]  
| [[Archivo:Malaga-2013-summer-workshop-4.jpg|300px|thumb|  (''Click para ampliar''))]]
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| [[Archivo:Malaga-2013-summer-workshop-4.jpg|300px|thumb|  (''Click to enlarge'')]]
 
|--------
 
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|[[Archivo:Malaga-2013-summer-workshop-5.jpg|300px|thumb|  (''Click para ampliar'')]]  
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|[[Archivo:Malaga-2013-summer-workshop-5.jpg|300px|thumb|  (''Click to enlarge'')]]  
| [[Archivo:Malaga-2013-summer-workshop-2013-6.jpg|300px|thumb|  (''Click para ampliar''))]]
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| [[Archivo:Malaga-2013-summer-workshop-2013-6.jpg|300px|thumb| 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'')]]
 
|--------
 
|--------
|[[Archivo:Malaga-2013-summer-workshop-7.jpg|300px|thumb|   (''Click para ampliar'')]]  
+
|[[Archivo:Malaga-2013-summer-workshop-7.jpg|300px|thumb| Notes taken by Cristina Urdiales during the talk. Amazing drawings!!! Thanks Cristina!! :-)  (''Click to enlarge'')]]  
 
|  
 
|  
 
|--------
 
|--------
 
|}
 
|}
  
== Publications ==
+
== Related publications ==
 +
 
 
{| class="wikitable"
 
{| class="wikitable"
|
+
|-------
 +
| 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.
 +
([http://www.iearobotics.com/downloads/2011-05-30-robocity/Avinash-et-at-MR-ANN-Robocity-May2011.pdf PDF]) ([http://www.scribd.com/doc/57370406/A-DISTRIBUTED-NEURAL-CONTROLLER-FOR-LOCOMOTION-IN-LINEAR-MODULAR-ROBOTIC-CONFIGURATIONS On-line])
 +
([[Paper:2011-Robocity-Modular-robot-neural-controller|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
 +
([http://www.iearobotics.com/downloads/2010-12-02-RoboCity-exteriores/Cap-20-robots-modulares-busqueda-rescate-robocity-2030.pdf PDF]) ([http://www.scribd.com/doc/44591049/DESARROLLO-DE-ROBOTS-MODULARES-DE-TIPO-SERPIENTE-PARA-BUSQUEDA-Y-RESCATE-EN-ENTORNOS-URBANOS online]) [[Paper:2010-RoboCity-8-workshop-robots-exteriores|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
  
|----
+
([http://www.iearobotics.com/downloads/papers/Bio-inspired-small-sized-wall-climbing-caterpillar-robot.pdf PDF]) ([http://www.intechopen.com/articles/show/title/a-bio-inspired-small-sized-wall-climbing-caterpillar-robot 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
 +
([http://www.iearobotics.com/downloads/2010-05-03-ICRA-Workshop/Paper-ICRA-workshop-2010-snake-USAR.pdf PDF]) ([http://www.scribd.com/doc/31527410/Paper-Toward-the-sense-of-touch-in-snake-modular-robots-for-search-and-rescue-operations On line in Scribd]) ([[Paper:ICRA-2010-Workshop-on-modular-robots|More information]] )
 +
|-----------
 +
| Juan Gonzalez-Gomez, "'''Modular Robotics and Locomotion: Application to Limbless robots'''". PhD Thesis. Universidad Autónoma de Madrid. November-2008 (Translated into English)
  
 +
([http://www.iearobotics.com/downloads/2008-11-08-Tesis-Juan/Thesis_PhD_Juan_Gonzalez_Gomez-2008.pdf  PDF]) ([http://www.scribd.com/doc/19362767/Modular-Robotics-and-Locomotion-Application-to-Limbless-robots On line in Scribd]) ([[Juan Gonzalez:Tesis|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
 +
([http://www.iearobotics.com/downloads/papers/Robio2009-task-priority.pdf 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''
 +
([http://www.iearobotics.com/downloads/papers/ICM2009-caterpillar.pdf PDF]) ([http://www.scribd.com/doc/17673227/A-New-Application-of-Modular-Robots-on-Analysis-of-Caterpillarlike-Locomotion On-line in Scribd]) ([[Paper:ICM09-caterpillar| 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
 +
([http://www.iearobotics.com/downloads/papers/Robio2008-modular-robot.pdf PDF]) ([http://www.scribd.com/doc/17655808/Embedded-Intelligent-Capability-of-a-Modular-Robotic-System On-line in scribd])
 +
|---------
 +
| Juan Gonzalez-Gomez, "'''Robótica Modular y Locomoción: Aplicación a Robots Ápodos'''". Tesis doctoral. Universidad Autónoma de Madrid. Noviembre-2008
 +
([http://www.iearobotics.com/downloads/2008-11-08-Tesis-Juan/Tesis-Juan-Gonzalez-Gomez.pdf  PDF]) ([http://www.scribd.com/doc/14753410/Robotica-modular-y-locomocion-aplicacion-a-robots-apodos En línea en Scribd]) ([[Juan Gonzalez:Tesis|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''
 +
([http://www.iearobotics.com/downloads/papers/AIM_2008-GZ-I.pdf PDF]) ([http://www.scribd.com/doc/17645063/Development-of-a-Lowcost-Flexible-Modular-Robot-GZI 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''.
 +
([http://www.iearobotics.com/personal/juan/publicaciones/art16/download/cwr-chap24-Gonzalez_et_al.pdf PDF]) ([http://www.scribd.com/doc/17613884/Locomotion-Principles-of-1D-Topology-Pitch-and-PitchYawConnecting-Modular-Robots On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art16/index.html 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''
 +
([http://www.iearobotics.com/personal/juan/publicaciones/art15/download/AIM07.pdf PDF]) ([http://www.scribd.com/doc/17613615/A-Novel-Modular-Climbing-Caterpillar-Using-Lowfrequency-Vibrating-Passive-Suckers On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art15/index.html More Information])
 +
|--------
 +
| 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
 +
([http://www.iearobotics.com/personal/juan/publicaciones/art14/download/hypercube-clawar06.pdf PDF]) ([http://www.scribd.com/doc/17608275/Locomotion-Capabilities-of-a-Modular-Robot-with-Eight-PitchYawConnecting-Modules On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art14/index.html More Information])
 +
|---------------
 +
| 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''
 +
([http://www.iearobotics.com/personal/juan/publicaciones/art13/download/arc-cube-2006.pdf PDF]) ([http://www.scribd.com/doc/17613446/Evaluation-of-a-locomotion-algorithm-for-wormlike-robots-on-FPGAembedded-processors On-line in scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art13/index.html More Information])
 +
|----------
 +
| 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
 +
([http://www.iearobotics.com/personal/juan/publicaciones/art12/download/multicube-clawar.pdf PDF]) ([http://www.scribd.com/doc/16581798/Motion-of-Minimal-Configurations-of-a-Modular-Robot-Sinusoidal-Lateral-Rolling-and-Lateral-Shift on-line in Scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art12/index.html More Information])
 +
|---------
 +
| 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 ([http://www.iearobotics.com/personal/juan/publicaciones/art11/download/cedi-cube.pdf PDF]) ([http://www.scribd.com/doc/16377145/Evaluacion-de-un-Algoritmo-de-Locomocion-de-Robots-Apodos-en-Diferentes-Procesadores-Embebidos-en-FPGA En línea en Scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art11/index.html 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. ([http://www.iearobotics.com/personal/juan/publicaciones/art8/cube-clawar04.pdf PDF]) ([http://www.scribd.com/doc/15048332/Locomotion-of-a-Modular-Wormlike-Robot-using-a-FPGAbased-embedded-MicroBlaze-Softprocessor On-line in Scribd]) ([http://www.iearobotics.com/personal)/juan/publicaciones/art8/index.html 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. ([http://www.iearobotics.com/personal/juan/publicaciones/art7/cube-rev.pdf PDF]) ([http://www.scribd.com/doc/15047587/Locomocion-de-un-Robot-apodo-modular-con-el-procesador-MicroBlaze En línea en Scribd]) ([http://www.iearobotics.com/personal/juan/publicaciones/art7/index.html Más Información])
  
|}
 
  
 
== More information ==
 
== More information ==
  
=== Modules ===
+
=== About modules ===
  
 
* '''Repyz''': ([[Módulos REPYZ|Wiki]])  ([http://www.thingiverse.com/thing:98864 thingiverse]) ([https://github.com/Obijuan/REPYZ Github])
 
* '''Repyz''': ([[Módulos REPYZ|Wiki]])  ([http://www.thingiverse.com/thing:98864 thingiverse]) ([https://github.com/Obijuan/REPYZ Github])
 
* '''Repy 2.0''': ([http://www.dsquaredrobotics.com/wiki/doku.php?id=en%3arepy-2.0 wiki]) ([http://www.thingiverse.com/thing:99207 thingiverse]) ([https://github.com/David-Estevez/REPY-2.0 github])
 
* '''Repy 2.0''': ([http://www.dsquaredrobotics.com/wiki/doku.php?id=en%3arepy-2.0 wiki]) ([http://www.thingiverse.com/thing:99207 thingiverse]) ([https://github.com/David-Estevez/REPY-2.0 github])
 
* '''Repy 1.1''': ([[Módulos_REPY-1|Wiki]]) ([http://www.thingiverse.com/thing:13442 thingiverse])
 
* '''Repy 1.1''': ([[Módulos_REPY-1|Wiki]]) ([http://www.thingiverse.com/thing:13442 thingiverse])
 +
* [[Módulos_MY|MY Modules]]: Aluminium version of the Y1 modules
 +
* [[Módulos_Y1|Y1 modules]]: Initial modules. Lasercut parts.
  
=== Other ===
+
=== Firmware for modular robots ===
* [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot]
+
* [[ArduSnake:_Arduino_Modular_Snake_Robots_Library]]
  
=== Sobre Robots modulares ===
+
=== Other workshops on modular robots ===
* [[Juan_Gonzalez:Tesis|Tesis de Obijuan sobre robots modulares]]: documentación, ejemplos, enlaces a todos los robots construidos, vídeos, etc...
+
* [[Training on modular snake robots]]. General information
* [[Módulos_Y1]]: Módulos para la construcción de robots modulares. Versión corte láser/manual
+
* ''05/March/2011'': '''Training on modular snake robots''' given at National Robotics & Intelligent Systems Center. King Abdulaziz City for Science and Technology (KACST). Riyadh. Saudi Arabia
* [[Módulos_MY]]: Versión en aluminio de los módulos Y1
+
:([[Training on modular robots: Saudi-arabia March-5th-2011|More information]])
* [[ArduSnake:_Arduino_Modular_Snake_Robots_Library]]: Biblioteca para Arduino para mover robots modulares
+
* ''22/Julio/2010'': '''Jugando con Robots modulares'''. Taller de robots modulares. Campus científico de Verano. Universidad Carlos III de Madrid
 +
:([[Campus científico 2010:Taller de robots modulares|Más información]])
  
=== Sobre impresoras 3D ===
+
=== About 3D printers ===
 +
* [http://reprap.org/ RepRap Project]: Self-replicating printers
 +
* [http://www.reprap.org/wiki/Proyecto_Clone_Wars Clone wars project]: Spanish speaking community about 3D printers
 +
* [http://www.thingiverse.com/ Thingiverse]: The youtube of phisical objetcs
  
* [http://reprap.org/ RepRap]: Impresoras 3D auto-replicantes
+
=== About opensource tools for 3D design ===
* [http://www.thingiverse.com/ Thingiverse]: El youtube de los objetos
+
* [http://www.openscad.org/ OpenScad]
* [[Objetos 3D]]: Objetos imprimibles
+
* [http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page Freecad]
* [http://www.reprap.org/wiki/Proyecto_Clone_Wars Proyecto Clone wars]: Construye tu propia impresora 3D
+
* [http://iearobotics.com/oomlwiki/doku.php OOML]: Object Oriented Mechanics
* [[Prusa Mendel: R2D2|Clon R2D2]]: El primer clon de Clone-wars
 
  
=== Sobre herramientas libres de diseño ===
+
=== Other ===
* [http://www.openscad.org/ OpenScad]: Herramienta libre para diseño de piezas
+
* [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot]
* [http://kicad.sourceforge.net/wiki/Main_Page Kicad]: Herramienta libre para diseño de circuitos
 
* [http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Main_Page Freecad]: Herramienta libre de CAD
 
* [http://iearobotics.com/oomlwiki/doku.php OOML]: Object Oriented Mechanics. Mecánica orientada a Objetos
 
  
== Crédits ==
+
== Author ==
 +
* [[Juan Gonzalez:Main| Juan González-Gómez]]
  
 
== License ==
 
== License ==
Línea 153: Línea 199:
  
 
== Acknowledgment ==
 
== Acknowledgment ==
*  
+
* [http://beentheredrawnthat.blogspot.com.es/ Cristina Urdiales]: Thanks you very much for inviting me to Malaga to give this lecture!
 +
* [http://www.dte.uma.es/index.php?option=com_content&task=view&id=279 Manuel Fernández Carmona]: Thank you very much for all your help and technical support!
 +
* [http://www.granadaimprusa.org/ Granada imprusa team]: '''Juan Robles de Toro''', '''José María Torralba''', '''Federico Coca Caba''' and '''Juan Carlos Joya Clarés'''. Thank you very much for your help, your wonderful present and your donation!  :-)
 +
* '''Enrique Norro Gañan''': From Dpto. Electrónica del IES Politécnico Jesús Marín and organizer of [http://www.malakabot.com/index.php?option=com_content&view=article&id=158:summer-workshop-2013-fotos&catid=70:cat-uma-workshop-2013&Itemid=133 Malakabot]. Thank you very much for help, your wonderful board for controlling the robot and all the pictures and videos!
  
 
== News ==
 
== News ==
 +
* '''20/oct/2013''': First version is ready!
 
* '''08/Sep/2013''': This page is started
 
* '''08/Sep/2013''': This page is started
  
 
+
--------------
[[Categoría:Robots imprimibles]]
 
[[Categoría:Charlas y Conferencias]]
 
[[Categoría: Robótica]]
 
 
 
  
 
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|  
 
|  
 
[[Archivo:Clone-Wars-logo.png|border|120px|link=http://www.reprap.org/wiki/Proyecto_Clone_Wars|Proyecto Clone wars]]
 
[[Archivo:Clone-Wars-logo.png|border|120px|link=http://www.reprap.org/wiki/Proyecto_Clone_Wars|Proyecto Clone wars]]
| [http://www.reprap.org/wiki/Proyecto_Clone_Wars Proyecto Clone wars]: Construye tu impresora 3D opensource!
+
| [http://www.reprap.org/wiki/Proyecto_Clone_Wars Proyecto Clone wars]
 
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<center> [[Archivo:RepRap1.png|border|85px|link=http://reprap.org/ RepRap|Proyecto Reprap]] </center>
 
<center> [[Archivo:RepRap1.png|border|85px|link=http://reprap.org/ RepRap|Proyecto Reprap]] </center>
| [http://reprap.org/ Proyecto RepRap]: Impresoras 3D auto-replicantes. El origen de la revolución de las impresoras 3D opensource
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| [http://reprap.org/ Proyecto RepRap]
 
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<center>[[Archivo:Logo-obijuan-academy-white-back.png|100px|link=Obijuan Academy|Obijuan Academy]] </center>
 
<center>[[Archivo:Logo-obijuan-academy-white-back.png|100px|link=Obijuan Academy|Obijuan Academy]] </center>
| [[Obijuan Academy]], Tu academia rebelde! ;-)
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[[Categoría:Robots imprimibles]]
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[[Categoría:Charlas y Conferencias]]
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[[Categoría: Robótica]]

Revisión actual del 11:41 20 oct 2013

2013-07-02-snake-robots.png


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
on-line Read on-line in Slideshare

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
(Click to enlarge)
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(Click to enlarge)
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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)

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

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

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

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

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

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

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)


More information

About modules

Firmware for modular robots

Other workshops on modular robots

  • Training on modular snake robots. General information
  • 05/March/2011: Training on modular snake robots given at National Robotics & Intelligent Systems Center. King Abdulaziz City for Science and Technology (KACST). Riyadh. Saudi Arabia
(More information)
  • 22/Julio/2010: Jugando con Robots modulares. Taller de robots modulares. Campus científico de Verano. Universidad Carlos III de Madrid
(Más información)

About 3D printers

About opensource tools for 3D design

Other

Author

License

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

Acknowledgment

  • Cristina Urdiales: Thanks you very much for inviting me to Malaga to give this lecture!
  • Manuel Fernández Carmona: Thank you very much for all your help and technical support!
  • Granada imprusa team: Juan Robles de Toro, José María Torralba, Federico Coca Caba and Juan Carlos Joya Clarés. Thank you very much for your help, your wonderful present and your donation!  :-)
  • Enrique Norro Gañan: From Dpto. Electrónica del IES Politécnico Jesús Marín and organizer of Malakabot. Thank you very much for help, your wonderful board for controlling the robot and all the pictures and videos!

News

  • 20/oct/2013: First version is ready!
  • 08/Sep/2013: This page is started

Proyecto Clone wars

Proyecto Clone wars
Proyecto Reprap
Proyecto RepRap
Obijuan Academy
Obijuan Academy