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Ficha del curso
- Title: Training on modular robots
- Duration: 30h
- Dates: From March/5th/2011 to March/8th/2011 (4 days)
- Place: National Robotics & Intelligent Systems Center. King Abdulaziz City for Science and Technology (KACST). Riyadh, Saudi Arabia
- Organizers:
- Dr. Khalid Aldakkan, head of the National Robotics & Intelligent Systems Center,
- Dr. Eball H. Ahmad
- Attendees: 9 people, divided into 3 groups
- Instructors:
- Prof. Dr. Houxiang Zhang. Department of Technology and nautical science. Aalesund University Colleage. Norway
- Dr. Juan Gonzalez-Gomez. Robotics Lab. Department of system engineering and Automation. Universidad Carlos III de Madrid. Spain
- Robotic platform: MY1 modules and Skycube board
Programme
Day 1
- * About ourselves.
- * Introduction to modular robotics(PDF)
- * Overview of the training on modular snake robots (As shown below)
- Session 2: Building the MY1 modules
- Assembling the MY1 modules. Mounting the battery pack. Preparing the download cable. Building Unimod A1
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Day 2
- Session 3: Software installation
- Installing the SDCC C compiler. Installing and testing the Codeblocks IDE. Installing and testing the Pydownloader tool. Introduction to the Skycube board. More programming examples
- Session 4: Servo controlling
- Introduction to servo controlling. Programming the sevos. Introduction to the sinusoidal generators. Programming oscillations. Experiment 1: "The wave". Experiment 2: "The big wave"
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Day 3
- First Challenge! Building a 30 modules caterpillar robot
- Session 5: Locomotion in 1D (I)
- Finish the 10 Unimods A1. Minicube-I assembling. Experiments on the locomotion of Minicube-I. Building the Cube3 configuration. Experiments on the locomotion of Cube3
- Session 6: Locomotion in 1D (II)
- Building the Cube6 configuration. Locomotion experiments. Building the Cube12 configuration. Locomotion experiments. Building the Cube30 configuration! Locomotion experiments. Locomotion principles. Introduction to the serpenoid curve
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Day 4
- Second challenge! Building a 30-module snake!!
- Session 7: Locomotion in 2D (I)
- Building 10 Unimods B1. Building 10 Unidmods 2D-B1. Building 5 Minicube-II type A1. Building 5 Minicube-II type B1. Locomotion gaits. Locomotions experiments. Building a 6 modules pith-yaw configuration. Locomotion experiments
- Session 8: Locomotion in 2D (II)
- Building 3 snake9. Locomotion experiments. Building 1 snake18. Experiments. Building the snake30!. Locomotion experiments.
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Day 5
- Session 9: Pending Experiments
- Pending tasks, resolve questions, complete the unfinished experiments
- Session 10: Conclusions and future work
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Robotic Kit
Unit kit (3 modules) (
click to enlarge)
- 3 Futaba 3003 servos
- Aluminium parts for building 3 MY1 modules
- 1 Aluminium part for holding the batteries
- Battery compartment (for 4 AAA standard batteries)
- 1 Skycube board
- 4 standard AAA batteries
- 43 M3 flat head bolts, 8mm.
- 39 M3 nuts
- 4 male/female spacers. Size M3, length 12mm
- 4 spacers (female/female). size M3, length 10mm
- A two-pin female molex connector
- Two pins for the molex connector
- Two pieces of heat shrink tube. Diameter: 2mm. Length: 10mm
- 3-pin header
- 1 FTDI TTL-232R-5V Cable
- 1 small Label
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Documentation
Videos
Pictures
Authors
- Alberto Valero Gómez
- Dr. Juan Gonzalez-Gomez. Robotics Lab. Department of system engineering and Automation. Universidad Carlos III de Madrid. Spain
License
Links
Acknowledgements
News
- 02/Mayo/2012: Comenzada esta página
This work is licensed under a Creative Commons Attribution-ShareAlike License.
