#WEBOTS MODULAR ROBOT BIOROB GENERATOR#
#WEBOTS MODULAR ROBOT BIOROB PROFESSIONAL#
#WEBOTS MODULAR ROBOT BIOROB SIMULATOR#

Dynamic reconfigurability adds a new dimension to the capabilities of the robot.

The exciting aspect about a modular robot like Polypod is that it does not only describe one robot, but also presents the building blocks from which many different types of robots can be formed. The result is the creation of a number of unique locomotion modes. We further choose statically stable locomotion as the task domain to evaluate the design and control strategy. This is based upon the design and construction of a robot called Polypod. In this thesis we study the design and control of unit-modular dynamically reconfigurable robots. We also demonstrate the structure of simple anatomical building blocks (bones, muscles, etc.) which we envision can be assembled into more complex robots of future miniaturized modules.Ī unit-modular robot is a robot that is composed of modules that are all identical. The robot's ability includes locomotion (snake, car, and walker), manipulation of objects (serial manipulator, conveyer belt) and autonomous change of functionality and shape (locomotion configurations, many-module shape-change). We present a range of different self-reconfigurable robots assembled from the ATRON base module. This paper documents and discusses the application versatility of self-reconfigurable robots in general and of the ATRON system in particular. Therefore, self-reconfigurable robots have the potential to become highly versatile. In contrast modular self-reconfigurable robots can dynamically and autonomously change both their function and morphology to meet new demands of changing tasks. Traditional fixed morphology robots are limited to purely functional adaptation and thereby to a limited range of applications. We demonstrate how the CPG allows one to easily adjust the speed and direction of locomotion both in water and on ground while ensuring that continuous and smooth setpoints are sent to the robot's actuated joints. it produces stable rhythmic patterns that are robust against perturbations), (2) that the limit cycle behavior has a closed-form solution which provides explicit control over relevant characteristics such as frequency, amplitude and wavelength of the travelling waves, and (3) that the control parameters of the CPG can be continuously and interactively modulated by a human operator to offer high maneuverability. Interesting aspects of the CPG model include (1) that it exhibits limit cycle behavior (i.e. The CPG generates coordinated travelling waves in real time while being interactively modulated by a human-operator. The CPG model is implemented as a system of coupled nonlinear oscillators on board of the robot.

#WEBOTS MODULAR ROBOT BIOROB GENERATOR#

The control architecture is based on a central pattern generator (CPG) model inspired from the neural circuits controlling locomotion in the lamprey's spinal cord. This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. Con las pruebas realizadas finalmente se obtiene la segunda configuración con patas implementada en el Mecabot, complementando así los trabajos de investigación previamente realizados para la configuración hexápoda y configuraciones ápodas (serpiente, oruga rueda). El robot es probado en terrenos estructurados y no estructurados midiendo su velocidad en función de la variación de la frecuencia de movimiento, para la modalidad de giro abierto se mide el radio de la circunferencia descrito en función de la variación del offset. Para la modalidad de giro cerrado se emplea una transición característica de los robots cuadrúpedos con el fin de poder seguir ejecutando correctamente la rotación sin necesidad de emplear un número mayor de grados de libertad. Los perfiles de locomoción que debe ejecutar el robot para estas dos primeras modalidades de movimiento son bioinspirados. En base a ello es planteado el modelo matemático del control para realizar los movimientos de desplazamiento, giro abierto y giro cerrado.

Varias posibles topologías son abordadas para finalmente optar por un diseño que permita emplear una columna activa.

#WEBOTS MODULAR ROBOT BIOROB SIMULATOR#

Olivier is going to explain us, how the Webots simulator started, what are its main features, why it became open source, and how we can use it with ROS by using the webots_ros package.En este documento se describe el proceso de ensamblaje de una arquitectura cuadrúpeda utilizando el sistema robótico modular Mecabot.

#WEBOTS MODULAR ROBOT BIOROB PROFESSIONAL#

I mean, you use the simulation to test your programs until they work properly in it and then, and only then, you move to the real robot testing.įor the professional ROS developers, this podcast is dedicated to you!Īnd today, it is my pleasure to introduce you Olivier Michel CEO of Cyberbotics, the company that develops Webots simulator. Today, I would like to dedicate the episode to those ROS developers that use simulations as a key element in their ROS development.

Webots modular robot biorob