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* [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=cHJJQ0zNNOM Robot BigDog] (''youtube'')
* [http://www.youtube.com/watch?v=SpLH-hHXigg Minicube-II Robot: PYP minimal configuration]
* [http://www.youtube.com/watch?v=DrmYk_VBelg Parodia del BigDog ;-)] (''youtube'')
* [http://www.youtube.com/watch?v=fLjjrJ7bun8 Cube-M: 3-modules Caterpillar locomotion]
* [http://www.iearobotics.com/personal/juan/doctorado/Modulos-Y1/download/video1.mpg Movimiento de un módulo Y1]  (''mpeg'')
* [http://www.youtube.com/watch?v=kuIGVJkVfI0 Cube-M: Testing in the Field]
* [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'')
* [http://www.youtube.com/watch?v=ijcbWqJUxGA Cube Revolutions: Logo de Debian] (''Youtube'')
* [http://www.youtube.com/watch?v=zTkq-v0_XSo Cube Revolutions: Andando con su nueva funda] (''Youtube'')
* [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 ==
== Artículos científicos ==

Revisión del 00:09 17 jun 2009



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.


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


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


Some of the videos shown during the talk:

Artículos científicos



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


  • 07/Mayo/2009: Comenzada esta página