Diferencia entre revisiones de «2009-06-16:Bremen:Live modular robots»
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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= | + | * [http://www.youtube.com/watch?v=SpLH-hHXigg Minicube-II Robot: PYP minimal configuration] |
| − | * [http://www.youtube.com/watch?v= | + | * [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] | |
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== Artículos científicos == | == Artículos científicos == | ||
Revisión del 01:09 17 jun 2009
- Title: "Live Modular Robots"
- Speakers: Juan González and Houxiang Zhang
- Duration: 25 minutes
- Place: Robotics Innovation Center. DFKI Bremen
- Date: Jun, 16th 2009
- More information: DFKI Bremen's talk archive
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
 This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 Spain License.
|
Videos
Some of the videos shown during the talk:
- Cube Revolutions Robot locomotion using sinusoidal oscillators
- Cube Revolution Robot: Caterpillar locomotion
- Cube Revolutions: Moving like a wheel
- Cube Revolutions: Testing the stability of the Linux Systems ;-)
- Hypercube Robot: Testing its locomotion capabilities
- Hypercube Robot: a funny test ;-)
- Minicube-I Robot: PP minimal configuration
- Minicube-II Robot: PYP minimal configuration
- Cube-M: 3-modules Caterpillar locomotion
- Cube-M: Testing in the Field
Artículos científicos
- " Robótica Modular y Locomoción: Aplicación a Robots Ápodos". Tesis doctoral. Universidad Autónoma de Madrid. Noviembre-2008
- "Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots", Capítulo 24 del libro, “Bioinspiration and Robotics: Walking and Climbing Robots”, 2007
- "Evaluation of a locomotion algorithm for worm-like robots on FPGA-embedded processors",Sobre Cube Revolutions, 2006
- "Locomotion of a Modular Robot with Eight Pitch-Yaw-Connecting Modules". Sobre el robot Hypercube, 2006
- "Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift". Sobre las configuraciones mínimas, 2005
- "Locomotion of a Modular Worm-like Robot using a FPGA-based embedded MicroBlaze Soft-processor", sobre Cube Revolutions, 2004
Enlaces
- Robot Cube Revolutions
- Robot Hypercube
- Robot MiniCube (configuraciones mínimas)
- Tarjeta Skypic
- 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
