Live modular Robots! Dr. Houxiang Zhang Dr. Juan Gonzlez-Gmez - - PowerPoint PPT Presentation

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Live modular Robots! Dr. Houxiang Zhang Dr. Juan Gonzlez-Gmez Faculty of Mathematics, Informatics School of Engineering and Natural Sciences Universidad Autonoma de Madrid University of Hamburg DFKI Bremen Robotics Innovation Center.

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Live modular Robots!

Dr. Houxiang Zhang

Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg School of Engineering Universidad Autonoma de Madrid

Dr. Juan González-Gómez

DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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Outline

Live modular Robots!

1. Introduction
2. Locomotion in 1D
3. Locomotion in 2D
4. Minimal configurations
5. Cube-M modules
6. Conclusions and current work

Outline DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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The Locomotion Problem

Classic approach

CMU Ambler Dante II

Bio-inspired approach

Aramies Big Dog

Modular approach

Polybot

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Modular Robotics

Two important aspects:
Robot morphology
Controller

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Morphology

1D Topology 2D Topology 3D Topology Modular Robot classification Pitch-Pitch Yaw-yaw Pitch-yaw 1D topology sub-classification

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Controller

Calculation of the joint's angles to realize a gait: it

Classic approach: Mathematical modeling
Calculation by inverse kinematics
Disadvantages: The equations are only valid for an specific morphology
Coordination problem:

CPG CPG CPG

Bio-inspired controllers: CPGs
Central Pattern Generators
CPGs control the rhythmic activities
Ej. The locomotion of the lamprey

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Hypothesis: Sinusoidal oscillators

CPGs are replaced by a Simplified model

it=A i s in 2 T iOi

Sinusoidal oscillators:
Advantages:
Few resources required

CPG CPG CPG

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Outline

Live modular Robots!

1. Introduction
2. Locomotion in 1D
3. Locomotion in 2D
4. Minimal configurations
5. Cube-M modules
6. Conclusions and current work

Outline DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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Y1 Modules

One degree of freedom
Easy to build
Cheap
Open and “Free”

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Electronics & control

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Cube Revolutions (I)

Morphology:

8 modules with pitch-pitch connection

Controller:
8 equal oscillators
Parameters:

Videos A , ,T

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Locomotion mechanism

x V=x T

Locomotion performed by the

body wave propagation

Step:
Mean Speed:
Serpenoid curve
Step calculation:

x= l k −∫0

l k c

s c
s 2k

l sds

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Outline

Live modular Robots!

1. Introduction
2. Locomotion in 1D
3. Locomotion in 2D
4. Minimal configurations
5. Cube-M modules
6. Conclusions and current work

Outline DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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Hypercube (I)

Morphology

8 modules with pitch-yaw connection

Controller:
4 vertical oscillators
4 horizontal oscillators
Parameters:

A h,A v ,h,v,vh ,T Demo

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Locomotion gaits

Searching: Genetic algorithms
5 categories of gaits
Characterized by the 3D body wave

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3D Body wave propagation
Linear Step:
Angular Step:
Dimensions: width (w) x length (lx) x heigth (h)

Locomotion mechanism

 r 

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Outline

Live modular Robots!

1. Introduction
2. Locomotion in 1D
3. Locomotion in 2D
4. Minimal configurations
5. Cube-M modules
6. Conclusions and future work

Outline DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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Minimal configurations

Configurations with the minimal number of modules that are able to move
Searching the control space using genetic algorithms
Straight line
5 gaits

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Minicube-I

Morphology

2 modules with a Pitch- pitch connection

Controller:
Two generators
Parameters:

Demo

A , ,T

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Minicube-II

Morphology:

3 modules with Pitch-yaw- pitch connection

Controller:
3 oscillators
Parameters:

A v,A h,v,vh,T Demo

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Av=40, Ah=0

Forward

v=120 Av=Ah40 vh=90,v=0

Lateral shifting Turning

Av=40, Ah=0 Oh=30,v=120

Rotating

Av=10, Ah=40 vh=90,v=180

Rolling

Av=Ah60 vh=90,v=0

Locomotion gaits

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Outline

Live modular Robots!

1. Introduction
2. Locomotion in 1D
3. Locomotion in 2D
4. Minimal configurations
5. Cube-M modules
6. Conclusions and current work

Outline DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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Cube-M module(I)

Low cost mechanical design
Simple robust modules assembling

manually and int a quick-to-build, easy-to- handle design

Onboard electronics and sensors

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Cube-M module (II)

Demo

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Software

1D topology simulator (Based on Open Dynamics Engine [ODE])
Generics algorithms: PGAPack
Mathematical models in Octave/Matlab

Demo

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Outline

Live modular Robots!

1. Introduction
2. Locomotion in 1D
3. Locomotion in 2D
4. Minimal configurations
5. Cube-M modules
6. Conclusions and current work

Outline DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009

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The controller based on sinusoidal oscillators is valid for the locomotion of the 1D-topology modular robots

Conclusions

Very few resources are required for its implementation
The locomotion gaits are very smooth and natural
At least 5 different gaits can be achieved

it =Aisin 2 T iOi

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Current work

Modular grasping Locomotion of 2D Topology modular robots New module design Climbing caterpillar

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Live modular Robots!

Dr. Houxiang Zhang

Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg School of Engineering Universidad Autonoma de Madrid

Dr. Juan González-Gómez