Live modular Robots! Dr. Houxiang Zhang. Dr. Juan González-Gómez. Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg

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1 Live modular Robots! Dr. Houxiang Zhang Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg Dr. Juan González-Gómez School of Engineering Universidad Autonoma de Madrid DFKI Bremen Robotics Innovation Center. Jun, 16th, 2009

2 Outline Outline 1. Introduction 2. Locomotion in 1D 3. Locomotion in 2D 4. Minimal configurations 5. Cube-M modules 6. Conclusions and current work Live modular Robots! DFKI Bremen Robotics Innovation Center. Jun, 16th,

3 The Locomotion Problem Classic approach Bio-inspired approach CMU Ambler Aramies Dante II Big Dog Modular approach Polybot 3

4 Modular Robotics Two important aspects: Robot morphology Controller 4

5 Morphology Modular Robot classification 1D Topology 2D Topology 3D Topology 1D topology sub-classification Pitch-Pitch Yaw-yaw Pitch-yaw 5

equations are only valid for an specific morphology CPG CPG CPG Bio-inspired controllers: CPGs

6 Controller Coordination problem: 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 CPG CPG CPG Bio-inspired controllers: CPGs Central Pattern Generators CPGs control the rhythmic activities Ej. The locomotion of the lamprey 6

7 Hypothesis: Sinusoidal oscillators CPGs are replaced by a Simplified model CPG CPG CPG Sinusoidal oscillators: 2 i t =A i sin i O i T Advantages: Few resources required 7

8 Outline Outline 1. Introduction 2. Locomotion in 1D 3. Locomotion in 2D 4. Minimal configurations 5. Cube-M modules 6. Conclusions and current work Live modular Robots! DFKI Bremen Robotics Innovation Center. Jun, 16th,

9 Y1 Modules One degree of freedom Easy to build Cheap Open and Free 9

10 Electronics & control 10

11 Cube Revolutions (I) Videos Morphology: 8 modules with pitch-pitch connection Controller: 8 equal oscillators Parameters: A,,T 11

12 Locomotion mechanism Locomotion performed by the body wave propagation Step: x V= Mean Speed: Serpenoid curve Step calculation: x T l l 2 k x= 0k cos cos s ds k l 12

13 Outline Outline 1. Introduction 2. Locomotion in 1D 3. Locomotion in 2D 4. Minimal configurations 5. Cube-M modules 6. Conclusions and current work Live modular Robots! DFKI Bremen Robotics Innovation Center. Jun, 16th,

14 Hypercube (I) Demo Morphology 8 modules with pitch-yaw connection Controller: 4 vertical oscillators 4 horizontal oscillators Parameters: A h, A v, h, v, vh,t 14

15 Locomotion gaits Searching: Genetic algorithms 5 categories of gaits Characterized by the 3D body wave 15

16 Locomotion mechanism 3D Body wave propagation Linear Step: r Angular Step: Dimensions: width (w) x length (lx) x heigth (h) 16

17 Outline Outline 1. Introduction 2. Locomotion in 1D 3. Locomotion in 2D 4. Minimal configurations 5. Cube-M modules 6. Conclusions and future work Live modular Robots! DFKI Bremen Robotics Innovation Center. Jun, 16th,

18 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 18

19 Minicube-I Demo Morphology 2 modules with a Pitchpitch connection Controller: Two generators Parameters: A,, T 19

20 Minicube-II Demo Morphology: 3 modules with Pitch-yawpitch connection Controller: 3 oscillators Parameters: A v,a h, v, vh, T 20

21 Locomotion gaits Forward Av =40, Ah=0 v =120 Lateral shifting Av = Ah 40 vh =90, v=0 Av = Ah 60 Turning Rotating Av =40, Ah=0 Oh =30, v =120 Rolling Av =10, Ah=40 vh =90, v=180 vh =90, v=0 21

22 Outline Outline 1. Introduction 2. Locomotion in 1D 3. Locomotion in 2D 4. Minimal configurations 5. Cube-M modules 6. Conclusions and current work Live modular Robots! DFKI Bremen Robotics Innovation Center. Jun, 16th,

23 Cube-M module(i) Low cost mechanical design Simple robust modules assembling manually and int a quick-to-build, easy-tohandle design Onboard electronics and sensors 23

24 Cube-M module (II) Demo 24

25 Software Demo 1D topology simulator (Based on Open Dynamics Engine [ODE]) Generics algorithms: PGAPack Mathematical models in Octave/Matlab 25

26 Outline Outline 1. Introduction 2. Locomotion in 1D 3. Locomotion in 2D 4. Minimal configurations 5. Cube-M modules 6. Conclusions and current work Live modular Robots! DFKI Bremen Robotics Innovation Center. Jun, 16th,

27 Conclusions The controller based on sinusoidal oscillators is valid for the locomotion of the 1D-topology modular robots 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 =Ai sin 2 i Oi T 27

28 Current work Locomotion of 2D Topology modular robots Modular grasping Climbing caterpillar New module design 28

29 Live modular Robots! Dr. Houxiang Zhang Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg Dr. Juan González-Gómez School of Engineering Universidad Autonoma de Madrid DFKI Bremen Robotics Innovation Center. Jun, 16th,

Modular robotics and locomotion Juan Gonzalez Gomez

Modular robotics and locomotion Juan Gonzalez Gomez School of Engineering Universidad Autonoma de Madrid (Spain) Uni Hamburg. FB Informatik. AB TAMS. April 2006 Index Introduction to Modular robotics Starting