Toward the Sense of Touch in Snake Modular Robots for Search and - - PowerPoint PPT Presentation

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Toward the Sense of Touch in Snake Modular Robots for Search and Rescue Operations Juan Gonzlez-Gmez, Javier Gonzalez-Quijano, Houxiang Zhang, Mohamed Abderrahim Robotics Lab TAMS group Universidad Carlos III de Madrid University of

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Toward the Sense of Touch in Snake Modular Robots for Search and Rescue Operations

Juan González-Gómez, Javier Gonzalez-Quijano, Houxiang Zhang, Mohamed Abderrahim

Dr. Juan González-Gómez. Workshop on Modular Robots. ICRA. May-3th-2010

TAMS group University of Hamburg Hamburg (Germany) Robotics Lab Universidad Carlos III de Madrid Madrid (Spain)

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Outline

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

1. Introduction
2. Sense of touch
3. Mechanics
4. Experiments
5. Conclusions

Outline

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Urban Search and Rescue Operations (I)

1.- Introduction

Environment:
Unstructured terrain
Chaotic
Pieces of rumble
Priority: to find survivals quickly
Robot properties:
Versatility
Flexibility
Adaptability

Toward the sense of touch in Snake modular robots for search and rescue operations

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Urban Search and Rescue Operations (II)

1.- Introduction

Snakes modular robots are very

good candidates for search and rescue operations

Small section
Flexible body
Modular
Robustness
Versatile
Low cost

Toward the sense of touch in Snake modular robots for search and rescue operations

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Urban Search and Rescue Operations (III)

1.- Introduction

Capabilities needed (at least): Locomotion, climbing and

grasping

Toward the sense of touch in Snake modular robots for search and rescue operations

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Touch rings

2.- Sense of touch Toward the sense of touch in Snake modular robots for search and rescue operations

Discrete touch rings vs continuous artificial skin
Easier to adapt to the different snake prototypes
Distance d can be changed according to the requirements

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Touch strips

2.- Sense of touch Toward the sense of touch in Snake modular robots for search and rescue operations

Flexible capacitive strip
Consist of three layers
Electrodes in a flexible

PCB layer

The strip is bended to

form a touch ring

It fits snake robots with

different cross section (circular, squared...)

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Modules

3.- Mechanics Toward the sense of touch in Snake modular robots for search and rescue operations

Y1 modules family
Cube-M family
Joined together by screws

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Modular snakes prototypes

3.- Mechanics Toward the sense of touch in Snake modular robots for search and rescue operations

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Touch strip experiments (I)

4.- Experiments Toward the sense of touch in Snake modular robots for search and rescue operations

Only the first touch strip layer
Only three electrodes
Very early experiments
Pith-pitch minimum modular

robot

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Touch strip experiments (II)

4.- Experiments Toward the sense of touch in Snake modular robots for search and rescue operations

First tests carried out with Freescale standard electrodes
Substituted by our touch strip
Freescale software is used to display the measures

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Modular grasping simulation

4.- Experiments Toward the sense of touch in Snake modular robots for search and rescue operations

Grasping of a cylinder using the OpenRave Modular robot Plug-in

(developed by ourselves)

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Conclusions

6.- Conclusions Toward the sense of touch in Snake modular robots for search and rescue operations

Modular Snake robots are good candidates for being used in USAR

Operations

At least, locomotion, climbing and grasping capabilities are needed
The sense of touch is key to achieving these capabilities
Our idea is to use touch rings and touch strips
The early experiments are promising....

...But still a lot of research have to be done

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Towards the Sense of Touch in Snake Modular Robots for Search and Rescue Operations

Juan González-Gómez, Javier Gonzalez-Quijano, Houxiang Zhang, Mohamed Abderrahim

Dr. Juan González-Gómez. Workshop on Modular Robots. ICRA. May-3th-2010