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A New Application of Modular Robots on Analysis of Caterpillar-like Locomotion Houxiang Zhang, Juan Gonzlez-Gmez, Jianwei Zhang Faculty of Mathematics, Informatics School of Engineering and Natural Sciences Universidad Autonoma de Madrid

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A New Application of Modular Robots

n Analysis of Caterpillar-like Locomotion

Houxiang Zhang, Juan González-Gómez, Jianwei Zhang

Ph.D. Juan González-Gómez. IEEE International Conference on Mechatronics. Málaga. April-17th-2009

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

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Outline

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

1. Introduction
2. Kinematics
3. Locomotion
4. Experiments
5. Conclusions and future work

Outline

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Modular robots overview (I)

1.- Introduction

Polybot Yim et al. PARC Modsnake Wright et al. M-TRAN Murata et al. AIST SuperBot Shen et al. ISI

Composed of equal modules
Modules as building bricks
Self-reconfigurable
Shape adapted to the terrain

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Modular robots overview (II)

1.- Introduction

Yamor Moeckel et al. EPFL Cube Revolutions, Hypercube Gonzalez-Gomez et al. UAM Cube-M Zhang et al. TAMS

Very few groups in Europe

working on modular robotics Applications of modular robots:

Space exploration
Urban search and rescue
Educational purposes
Bioinspire research

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Locomotion of caterpillars

2.- Kinematics

Inchworm Manduca sexta larvae Adhesion module Joint module

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Manduca sexta larvae

2.- Kinematics

Body modeled as a chain of

three Cube-M modules: Cube-M

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Locomotion algorithm (I)

3.- Locomotion

CPG CPG CPG

it =Asin 2 T ti

Central pattern generators (CPGs)
Each CPG controls a group of

muscles In Nature Our model

Sinusoidal generators
One generator for each module
The bending angle is controlled

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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8 3.- Locomotion

Locomotion algorithm (II)

The same amplitude A for all the modules
The same phase difference
The same period T

it =Asin 2 T ti  x=s A, P=P A,  = P  x = A ,

Control space of two variables:
Exploration of the best working point for locomotion
Step, Power and Ratio as a function of

A , A ,

Step Power Ratio

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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9 4.- Experiments

The Cube-M modular robot

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

Video

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Experiments (I): Step

4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Experiments (II): Step

4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Experiments (III): Power

4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Experiments (IV): Power

4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Experiments (V): Ratio

4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Experiments (VI): Ratio

Working point A=40 Phase diff=125

4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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Conclusions and future work

5.- Conclusion and future work

Investigation of caterpillar-like locomotion using our cost-efficient

and robust modular robot Cube-M

The experiments show that when the phase difference is around

125 degrees the movement is smooth, fastest and power consumption is lowest

Further experiments and simulations
Addition of sensors on the module to get more moving

information

Application to the design on climbing caterpillars

A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

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A New Application of Modular Robots

n Analysis of Caterpillar-like Locomotion

Houxiang Zhang, Juan González-Gómez, Jianwei Zhang

Ph.D. Juan González-Gómez. IEEE International Conference on Mechatronics. Málaga. April-17th-2009