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Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules

Juan Gonzalez-Gomez, Eduardo Boemo

Computer Engineering School, Universidad Autonoma de Madrid, Spain

Houxiang Zhang, Jianwei Zhang

TAMS, Department of Informatics, University of Hamburg, Germany


In this paper, a general classification of the modular robots is proposed, based on their topology and the type of connection between the modules. The locomotion capabilities of the sub-group of pitch-yaw connecting robots are analyzed. Five different gaits have been implemented and tested on a real robot composed of eight modules. One of them, rotating, has not been previously achieved. All gaits are implemented using a simple and elegant central pattern generator (CPG) approach that simplify the algorithms of the controlling system.

juan 2006-10-09