Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots

Gonzalez-Gomez, J.; Zhang, Houxiang; Boemo, Eduardo

doi:10.5772/5513

Cited by 40 publications

(36 citation statements)

References 22 publications

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“…In the work [10], the classification of modular robots is given and trellised and chain-like robots with 1D-3D topology are distinguished. Linear robots can be serpentine-like and serpenoid-like.…”

Section: Related Workmentioning

confidence: 99%

Justification of the technical requirements of a fully functional modular robot

et al. 2017

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Abstract. Modular robots are characterized by limited built-in resources necessary for communication, connection and movement of modules, when performing reconfiguration tasks at rigidly interconnected elements. In developing the technological fundamentals of designing modular robots with pairwise connection mechanisms, we analysed modern hardware and model algorithms typical of a fully functional robot, which provide independent locomotion, communication, navigation, decentralized power and control. A survey of actuators, batteries, sensors, communication means, suitable for modular robotics is presented.

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Section: Related Workmentioning

confidence: 99%

Justification of the technical requirements of a fully functional modular robot

et al. 2017

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“…The module has a rotation of ±90 degrees, i.e., 2. There are three connected surfaces for attaching other modules, i.e., two bottom pieces and an outer support piece, and thus they have three different means of connection [17][18][19][20].…”

Section: Gaitmentioning

confidence: 99%

“…In the field of modular robots, the CPG plays an important role in motion expression. Almost all the modular robots adopt the CPG model, e.g., GZ-I modules [19,20].…”

Section: Introductionmentioning

confidence: 99%

Gait, Stability and Movement of Snake-Like Robots

Chen

Lü

et al. 2012

International Journal of Advanced Robotic Systems

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This paper provides theoretical analysis of some key features of snake-like robot locomotion. Inspired by the moving mechanism of animals, the snake robot built with simple modules is numerically controlled. A most common method for its locomotion is to apply a central pattern generator to efficiently generate the control signals of gait and movement. This paper analyses stability, crawling gait, moving velocity, climbing capability, the capability to cross ditches and avoid obstacles, etc. Mathematical models and simulations show the theoretical validity and robot capabilities.

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“…Starting from a stable grasp condition, represented by the joint angle displacement vector q(0), the next simulation step displacement can be computed as in (16) …”

Section: Grasping and Locomotion Simulationmentioning

confidence: 99%

“…In 2004, our group began to work on low-cost passive modular robots. The Y1 modular robot with one DOF was designed to research the minimal configurations for movement [16]. Many locomotion capabilities including linear gait, lateral shifting, rotating gait, rolling gaits were simulated using Open Dynamic Engine (ODE) libraries [17] and on-site tested by an eight-module robot [18].…”

Section: B Integrating Different Grasping Modes and Flexible Mobilitmentioning

confidence: 99%

Task priority grasping and locomotion control of modular robot

Salvietti

Zhang²,

Gonzalez-Gomez

et al. 2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-This paper presents modular robots for grasping manipulation with locomotion capability. At the beginning, a brief overview on hyper-redundant and modular grasping approach is given. The innovations of this research lie in two points. Firstly, different grasping modes are integrated based on modular approach. Then manipulation capability of robotic arms and flexible locomotion mobility of mobile robots are combined in our current project. Furthermore, the approach in the paper is not only considering manipulation and mobility in modular robots but also, the exploitation of a task priority based approach introduced to manage the trade-off between these two functionalities. Related kinematics of our approach is present systematically. A rational simulation is also given to confirm the idea. In the end a conclusion is given and future work is outlined.

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Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots

Cited by 40 publications

References 22 publications

Justification of the technical requirements of a fully functional modular robot

Justification of the technical requirements of a fully functional modular robot

Gait, Stability and Movement of Snake-Like Robots

Task priority grasping and locomotion control of modular robot

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