Live modular Robots!

Dr. Houxiang Zhang Dr. Juan González-Gómez

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

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

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, 2009 2
 The Locomotion Problem

Classic approach Bio-inspired approach Modular approach

CMU Ambler Aramies

Dante II Big Dog Polybot

3
 Modular Robotics

● Two important aspects:

● Robot morphology
● Controller

4
 Morphology

Modular Robot classification

1D Topology 2D Topology 3D Topology

1D topology sub-classification

Pitch-Pitch Yaw-yaw Pitch-yaw

5
 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
 Hypothesis: Sinusoidal oscillators

● CPGs are replaced by a Simplified model

CPG CPG CPG

● Sinusoidal oscillators:

2 ● Advantages:
 i t=A i sin  i O i
T ● Few resources required

7
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, 2009 8
 Y1 Modules

● One degree of freedom

● Easy to build
● Cheap
● Open and “Free”

9
Electronics & control

10
 Cube Revolutions (I) Videos

● Morphology:
8 modules with pitch-pitch
connection

● Controller:
● 8 equal oscillators
● Parameters:
A ,  ,T

11
Locomotion mechanism

●Locomotion performed by the

body wave propagation
● Step:  x
x
● Mean Speed: V=
T
● Serpenoid curve
● Step calculation:

l
l 2 k
 x= −∫0k cos   cos  sds
k l

12
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, 2009 13
 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
Locomotion gaits

● Searching: Genetic algorithms

● 5 categories of gaits
● Characterized by the 3D body wave

15
 Locomotion mechanism

● 3D Body wave propagation

● Linear Step:  r
● Angular Step:  
● Dimensions: width (w) x length (lx) x heigth (h)

16
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, 2009 17
 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
 Minicube-I Demo

● Morphology
2 modules with a Pitch-
pitch connection

● Controller:

● Two generators
● Parameters:

A ,  , T

19
 Minicube-II Demo

● Morphology:

3 modules with Pitch-yaw-

pitch connection

● Controller:

● 3 oscillators
● Parameters:

A v ,A h ,  v ,  vh , T

20
 Locomotion gaits

Forward Lateral shifting Rolling

Av =40, Ah=0 Av = Ah40

 v =120  vh =90,  v=0

Turning
Av = Ah60
Rotating  vh =90,  v=0

Av =40, Ah=0 Av =10, Ah=40

Oh =30, v =120  vh =90,  v=180
21
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, 2009 22
 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

23
Cube-M module (II) Demo

24
 Software Demo

● 1D topology simulator (Based on Open Dynamics Engine [ODE])

● Generics algorithms: PGAPack
● Mathematical models in Octave/Matlab

25
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, 2009 26
 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

2
i t =Ai sin i Oi
T

27
 Current work
Locomotion of 2D Climbing caterpillar
Topology modular robots

Modular grasping New module design

28
 Live modular Robots!

Dr. Houxiang Zhang Dr. Juan González-Gómez

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

DFKI Bremen – Robotics Innovation Center. Jun, 16th, 2009 29