Diferencia entre revisiones de «2009-06-16:Bremen:Live modular robots»

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== Papers ==
 
== Papers ==
  
* '''Modular robotics and locomotion: Application to limbless robots'''. Ph.D. Dissertation. Juan Gonzalez. Universidad Autónoma de Madrid. November-2008. ([[Juan Gonzalez:Tesis|More information]])
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* Juan Gonzalez-Gomez. '''Modular robotics and locomotion: Application to limbless robots'''. Ph.D. Dissertation. Universidad Autónoma de Madrid. November-2008. ([[Juan Gonzalez:Tesis|More information]])
  
* '''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. ([http://www.iearobotics.com/personal/juan/publicaciones/art16/download/cwr-chap24-Gonzalez_et_al.pdf PDF]) ([http://www.iearobotics.com/personal/juan/publicaciones/art16/index.html More information])
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* 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. ([http://www.iearobotics.com/personal/juan/publicaciones/art16/download/cwr-chap24-Gonzalez_et_al.pdf PDF]) ([http://www.iearobotics.com/personal/juan/publicaciones/art16/index.html More information])
  
* "[http://www.iearobotics.com/personal/juan/publicaciones/art13/index.html Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors]",Sobre Cube Revolutions, 2006
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* J. González-Gómez, I. González  , FJ. Gómez-Arribas and E. Boemo,'''Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors'''. In Lecture Notes in computer Science, vol.3985, pp. 24-29. ([http://www.iearobotics.com/personal/juan/publicaciones/art13/download/arc-cube-2006.pdf PDF]) ([http://www.iearobotics.com/personal/juan/publicaciones/art13/index.html More information])
  
 
* "[http://www.iearobotics.com/personal/juan/publicaciones/art14/index.html Locomotion of a Modular Robot with Eight Pitch-Yaw-Connecting Modules]". Sobre el robot Hypercube, 2006
 
* "[http://www.iearobotics.com/personal/juan/publicaciones/art14/index.html Locomotion of a Modular Robot with Eight Pitch-Yaw-Connecting Modules]". Sobre el robot Hypercube, 2006
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* "[http://www.iearobotics.com/personal/juan/publicaciones/art8/index.html Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor]", sobre Cube Revolutions, 2004
 
* "[http://www.iearobotics.com/personal/juan/publicaciones/art8/index.html Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor]", sobre Cube Revolutions, 2004
 
* [[Juan_Gonzalez:Publicaciones|Más artículos]]
 
  
 
== Enlaces ==
 
== Enlaces ==

Revisión del 00:30 17 jun 2009


2009-06-16-Live-modular-robots.jpg


Abstract

In this informal talk some of the modular robots we have developed in cooperation with the TAMS group from the University of Hamburg are shown and live demonstrations will be performed. Our research is focused on the locomotion capabilities of the 1D topology modular robots, like caterpillar, snakes and so on.

The control algorithms are bio-inspired. They are based on simplified Central Pattern Generators (CPGs) working as sinusoidal generators. For some values of generator parameters, the robots move using different locomotion gaits, such as rolling, side-winding, and rotating.

Another problem is the locomotion of the minimal configuration: finding those 1D topology modular robots with the minimum number of modules that are capable of moving in 1D and 2D. The two pitch-pitch and pitch-yaw-pitch minimal configuration will be discussed.

Finally, the new Cube-M modules will be presented, which will let us research on new topologies of modular robots.

Download

File Description
2009-06-16-Live_modular_robots.pdf Presentation Slides in PDF
2009-06-16-bremen-live_modular_robots.odp Presentation slides for OpenOffice

License

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

Videos

Some of the videos shown during the talk:

Papers

  • Juan Gonzalez-Gomez. Modular robotics and locomotion: Application to limbless robots. Ph.D. Dissertation. Universidad Autónoma de Madrid. November-2008. (More information)
  • 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. (PDF) (More information)
  • J. González-Gómez, I. González , FJ. Gómez-Arribas and E. Boemo,Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors. In Lecture Notes in computer Science, vol.3985, pp. 24-29. (PDF) (More information)

Enlaces

Agradecimientos

  • A Jose María Cañas por invitarme a dar esta charla. Muchísimas gracias ;-)

Noticias

  • 07/Mayo/2009: Comenzada esta página