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

De WikiRobotics
Saltar a: navegación, buscar
(Vídeos)
(Noticias)
 
(No se muestran 11 ediciones intermedias del mismo usuario)
Línea 49: Línea 49:
 
* [http://www.youtube.com/watch?v=f3rr1lcFe3Q Cube Revolutions: Moving like a wheel]  
 
* [http://www.youtube.com/watch?v=f3rr1lcFe3Q Cube Revolutions: Moving like a wheel]  
 
* [http://www.youtube.com/watch?v=AIpi2DtrvdU Cube Revolutions: Testing the stability of the Linux Systems ;-)]
 
* [http://www.youtube.com/watch?v=AIpi2DtrvdU Cube Revolutions: Testing the stability of the Linux Systems ;-)]
 +
* [http://www.youtube.com/watch?v=SpLH-hHXigg Hypercube Robot: Testing its locomotion capabilities]
 +
* [http://www.youtube.com/watch?v=GUuVUEFfbEg Hypercube Robot: a funny test ;-)]
 +
* [http://www.youtube.com/watch?v=EK6Pqhsq7kY Minicube-I Robot: PP minimal configuration]
 +
* [http://www.youtube.com/watch?v=SpLH-hHXigg Minicube-II Robot: PYP minimal configuration]
 +
* [http://www.youtube.com/watch?v=fLjjrJ7bun8 Cube-M: 3-modules Caterpillar locomotion]
 +
* [http://www.youtube.com/watch?v=kuIGVJkVfI0 Cube-M: Testing in the Field]
  
 +
== Papers ==
  
 +
* 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. ([http://www.iearobotics.com/downloads/papers/ICM2009-caterpillar.pdf PDF])
  
* [http://www.youtube.com/watch?v=cHJJQ0zNNOM Robot BigDog] (''youtube'')
+
* Houxiang Zhang, S.Y. Chen, Juan Gonzalez-Gomez, 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.youtube.com/watch?v=DrmYk_VBelg Parodia del BigDog ;-)] (''youtube'')
 
* [http://www.iearobotics.com/personal/juan/doctorado/Modulos-Y1/download/video1.mpg Movimiento de un módulo Y1]  (''mpeg'')
 
* [http://www.iearobotics.com/personal/juan/doctorado/Modulos-Y1/download/video3.mpg Dos Módulos Y1 con conexión cabeceo-cabeceo] (''mpeg'')
 
* [http://www.iearobotics.com/personal/juan/doctorado/Modulos-Y1/download/video2.mpg Dos Módulos Y1 con conexión cabeceo-viraje] (''mpeg'')
 
* [http://www.youtube.com/watch?v=EK6Pqhsq7kY Minicube-I en movimiento] (''Youtube'')
 
  
* [http://www.youtube.com/watch?v=2q9zxepYLtM Cube Revolutions: Posición de Cobra] (''Youtube'')
+
* 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. ([http://www.iearobotics.com/downloads/papers/AIM_2008-GZ-I.pdf PDF])
* [http://www.youtube.com/watch?v=ijcbWqJUxGA Cube Revolutions: Logo de Debian] (''Youtube'')
 
  
 +
* 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]])
  
* [http://www.youtube.com/watch?v=zTkq-v0_XSo Cube Revolutions: Andando con su nueva funda] (''Youtube'')
+
* 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.youtube.com/watch?v=NPfIgwwqCfM Cube Revolutions: Haciendo el "cobra" con su nueva funda] (''Youtube'')
 
* [http://www.youtube.com/watch?v=SpLH-hHXigg Minicube-II en movimiento] (''Youtube'')
 
* [http://www.youtube.com/watch?v=RJL-buxNiD4 Hypercube: Probando los movimientos] (''Youtube'')
 
* [http://www.youtube.com/watch?v=GUuVUEFfbEg Hypercube: Practicando el Rodeo!!!] (''Youtube'')
 
* [http://www.youtube.com/watch?v=kuIGVJkVfI0 Módulos GZ-I: Primeros prototipos] (''Youtube'')
 
* [http://www.youtube.com/watch?v=q2cutHR6VYA Moviendo un módulo Y1 con Tarri-wheel] (''Youtube'')
 
  
== Artículos científicos ==
+
* 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])
  
* "[[Juan Gonzalez:Tesis| Robótica Modular y Locomoción: Aplicación a Robots Ápodos]]". Tesis doctoral. Universidad Autónoma de Madrid. Noviembre-2008
+
* 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.iearobotics.com/personal/juan/publicaciones/art14/index.html More information])
  
* "[http://www.iearobotics.com/personal/juan/publicaciones/art16/index.html Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots]", Capítulo 24 del libro, “[http://s.i-techonline.com/Book/Bioinspiration-and-Robotics-Walking-and-Climbing%20Robots/ISBN978-3-902613-15-8.html Bioinspiration and Robotics: Walking and Climbing Robots]”, 2007
+
* 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. ([http://www.iearobotics.com/personal/juan/publicaciones/art12/download/multicube-clawar.pdf PDF])  ([http://www.iearobotics.com/personal/juan/publicaciones/art12/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
+
* 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. ([http://www.iearobotics.com/personal/juan/publicaciones/art8/cube-clawar04.pdf PDF]) ([http://www.iearobotics.com/personal/juan/publicaciones/art8/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
+
== Links ==
 +
* [http://tams-www.informatik.uni-hamburg.de/people/hzhang/projects/modularrobot/index.php Modular Robotics at TAMS groups]
 +
* [[Hypercube]] Robot
 +
* [[MiniCube]] Robot (Minimal configurations)
 +
* [[Cube Revolutions]] Robot
  
* "[http://www.iearobotics.com/personal/juan/publicaciones/art12/index.html Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift]". Sobre las configuraciones mínimas, 2005
+
==  Acknowledgement ==
 +
* We would like to thanks to '''Jose de Gea''' for his invitation to see all the research work that is being done at the Robotics Lab in Bremen. Thank you very much for sharing your time with us ;-)
  
* "[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
+
== News ==
 
+
* '''16th/Jun/2009''': This page is written
* [[Juan_Gonzalez:Publicaciones|Más artículos]]
 
 
 
== Enlaces ==
 
* Robot [[Cube Revolutions]]
 
* Robot [[Hypercube]]
 
* Robot [[MiniCube]] (configuraciones mínimas)
 
* [[Skypic|Tarjeta Skypic]]
 
* [[Conferencias y charlas| Índice de Charlas y conferencias]]
 
 
 
== Agradecimientos ==
 
* A '''Jose María Cañas''' por invitarme a dar esta charla. Muchísimas gracias ;-)
 
 
 
== Noticias ==
 
* '''07/Mayo/2009''': Comenzada esta página
 
  
 
[[Categoría:Robots modulares]]
 
[[Categoría:Robots modulares]]
 
[[Categoría:Charlas y Conferencias]]
 
[[Categoría:Charlas y Conferencias]]
 
[[Categoría: Robótica]]
 
[[Categoría: Robótica]]

Revisión actual del 00:48 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

  • 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. (PDF)
  • Houxiang Zhang, S.Y. Chen, Juan Gonzalez-Gomez, Jianwei Zhang. "Embedded Intelligent Capability of a Modular Robotic System".Proceeding of IEEE Robio2008, Bangkok, Thailand, Dec. 2008. (PDF)
  • 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. (PDF)
  • 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)
  • 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) (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. (PDF) (More information)
  • 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. (PDF) (More information)

Links

Acknowledgement

  • We would like to thanks to Jose de Gea for his invitation to see all the research work that is being done at the Robotics Lab in Bremen. Thank you very much for sharing your time with us ;-)

News

  • 16th/Jun/2009: This page is written