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A New Application of Modular Robotson Analysis of Caterpillar-like LocomotionHouxiang Zhang, Juan González-Gómez, Jianwei ZhangFaculty of Mathematics, InformaticsSchool of Engineeringand Natural SciencesUniversidad Autonoma de MadridUniversity of HamburgPh.D. Juan González-Gómez. IEEE International Conference on Mechatronics. Málaga. April-17th-2009

OutlineOutline1.Introduction2. Kinematics3. Locomotion4. Experiments5. Conclusions and future workA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion2

1.- IntroductionModular robots overview (I) Composed of equal modules Modules as building bricks Self-reconfigurable Shape adapted to the terrainPolybotYim et al. PARCModsnakeWright et al.M-TRANMurata et al. AISTSuperBotShen et al. ISIA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion3

1.- IntroductionModular robots overview (II)Very few groups in Europeworking on modular robotics Applications of modular robots: YamorMoeckel et al. EPFLSpace explorationUrban search and rescueEducational purposesBioinspire researchCube Revolutions, HypercubeGonzalez-Gomez et al. UAMCube-MZhang et al. TAMSA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion4

2.- KinematicsLocomotion of caterpillarsInchwormManduca sexta larvaeAdhesion moduleJoint moduleA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion5

2.- KinematicsManduca sexta larvaeBody modeled as a chain ofthree Cube-M modules: Cube-MA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion6

3.- LocomotionLocomotion algorithm (I)In NatureCPGCPGOur modelCPG Central pattern generators (CPGs) Each CPG controls a group ofmuscles Sinusoidal generatorsOne generator for each moduleThe bending angle is controlled i t A sin 2 t i TA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion7

3.- LocomotionLocomotion algorithm (II) The same amplitude A for all the modulesThe same phase differenceThe same period T i t A sin 2 t i TControl space of two variables: A , Exploration of the best working point for locomotionStep, Power and Ratio as a function of A , Step x s A , PowerP P A , Ratio P A , xA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion8

4.- ExperimentsThe Cube-M modular robotA New Application of Modular Robot on Analysis of Caterpillar-like LocomotionVideo9

4.- ExperimentsExperiments (I): StepA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion10

4.- ExperimentsExperiments (II): StepA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion11

4.- ExperimentsExperiments (III): PowerA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion12

4.- ExperimentsExperiments (IV): PowerA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion13

4.- ExperimentsExperiments (V): RatioA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion14

4.- ExperimentsExperiments (VI): RatioWorking pointA 40Phase diff 125A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion15

5.- Conclusion and future workConclusions and future workInvestigation of caterpillar-like locomotion using our cost-efficientand robust modular robot Cube-M The experiments show that when the phase difference is around125 degrees the movement is smooth, fastest and powerconsumption is lowest Further experiments and simulationsAddition of sensors on the module to get more movinginformation Application to the design on climbing caterpillarsA New Application of Modular Robot on Analysis of Caterpillar-like Locomotion16

A New Application of Modular Robotson Analysis of Caterpillar-like LocomotionHouxiang Zhang, Juan González-Gómez, Jianwei ZhangFaculty of Mathematics, InformaticsSchool of Engineeringand Natural SciencesUniversidad Autonoma de MadridUniversity of HamburgPh.D. Juan González-Gómez. IEEE International Conference on Mechatronics. Málaga. April-17th-2009

University of Hamburg School of Engineering Universidad Autonoma de Madrid. 2 Outline A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion 1. Introduction 2. Kinematics 3. Locomotion 4.