Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface

Abstract

Purpose -This paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion. Design/methodology/approach -A new modular robot is presented called YaMoR (for "Yet another Modular Robot"). Each YaMoR module contains an FPGA and a microcontroller supporting a wide range of control strategies and high computational power. The Bluetooth interface included in each YaMoR module allows wireless communication between the modules and controlling the robot from a PC. A control software called Bluemove was developed and implemented that allows easy testing of the capabilities for locomotion of a large variety of robot configurations. Findings -With the help of the control software called Bluemove, different configurations of the YaMoR modules were tested like a wheel, caterpillar or configurations with limbs and their capabilities for locomotion. Originality/value -This paper demonstrates that modular robots can act as a powerful framework for exploring locomotion of a large variety of different types of robots. Although present research is limited to exploring locomotion, YaMoR modules are designed to be general purpose and support a variety of applications.

Aplicação da modularidade na indústria automobilística: análise a partir de um levantamento tipo survey

“…Entretanto, algumas empresas assinalaram a opção discordo parcialmente para dois benefícios muito citados: aumentar a variedade de produtos (ORSATO; WELLS, 2007;RANKY, 2007;MOECKEL et al, 2006), por 3 montadoras, e reduzir a complexidade do produto (PANDREMENOS et al, 2009;VELOSO;FIXSON, 2001), por duas montadoras, sendo que para essas empresas esses não eram o foco da implantação que ajudassem na customização do produto. Aparentemente, o foco no setor automobilístico não está relacionado a facilitar a customização do produto ao cliente (apenas 4 empresas consideram essa possibilidade) mas há uma maior preocupação com reduzir os custos e aumentar a agilidade para melhor atender às variações de demanda.…”

Wheeled locomotion for payload carrying with modular robot

“…Depending on the hardware design, modular robots are classified into two types: lattice-type such as 3D Fracta [16], Molecule [17], ICubes [18], ATRON [19] and Molecube [20], Catoms [21] etc, and chain-type such as PolyBot [1], Conro [2], M-TRAN [3], Superbot [4], CkBot [5], YaMoR [6] etc. Compared with the lattice-type robot that moves by a series of reconfiguration, the chain-type robot moves using the joint motors in the modules, which is more efficient in speed and flexibility.…”

“…At present, different kinds of locomotion patterns on the modular reconfigurable robots have been extensively studied and implemented [1][2][3][4][5][6][7][8], such as rolling track, H-walker, snake and spider movement etc. All these gaits are very efficient and have demonstrated the versatility of modular robots.…”

A Multi-Sensory Autonomous Docking Approach for a Self-Reconfigurable Robot without Mechanical Guidance

“…SRR was first proposed by Fukuda, i.e., the CEBOT [1]. Since the initial conception, many other SRR systems, including Roombot [2][3][4], M-Cube [5], M-TRAN [6][7][8][9][10], ModRED [11], SuperBot [12][13][14] and Yamor [15][16][17], to name only a few, have been developed. Current docking algorithms are based on either infrared sensing or vision.…”