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UNIVERSIDAD AUTÓNOMA DE MADRID
ESCUELA POLITÉCNICA SUPERIOR
Ph.D. Thesis
MODULAR ROBOTICS AND LOCOMOTION:APPLICATION TO LIMBLESS ROBOTS
Author:JUAN GONZÁLEZ GÓMEZTelecomunication EngineerSupervisor:Dr. EDUARDO BOEMO SCALVINONI
Translator:TREVOR WALTER ROUTLEY
Madrid, 2008
ii
Acknowledgements
So many people have helped me, guided me and motivated me during these years of doctoral studythat there is no room to express my thanks to all of them.Firstly I would like to thank my supervisor,EduardoBoemo who had confidencein me and permittedme to pioneer the investigation in Spain of Modular Robotics. Many thanks as well to FranciscoGómez (Paco) for his recommendations,his constant interest and his corrections. For me he has beenlike a second director of studies. Also thanks are due to professor Andrés Perez-Uribe of the HauteEcole d’Ingnierie et de Gestion du Canton de Vaud (HEIG-VD), Switzerland and professor JianweiZhang of Hamburg University for his favourable comments. Many thanks also to Dave Calkins of San Francisco State University for writing the fantastic prologue to the thesis.Many thanks to all my colleagues in the laboratory: Sergio López-Buedo, the great living ency-clopaedia who was always willing to share freely of his knowledge and help. Gustavo Sutter andElías Todorovichfor all the good advice and suggestions that they have given me. Estanislao Aguayoand Jose Alberto Hernández for their help with Octave/Matlab and why not, for Iván González, withwhom I have shared conversations, congresses, summer courses, times of relaxation, and why notadmit it, the occasional party.I want to also thankMiguelÁngel García forall his help andsupport,Susana Holgado,Javier Garridoand Guillermo González de Rivera for including me in the robotics workshops and other roboticsinformation events at EPS, Pablo Varona, Francisco de Borja and Fernando Herrero for their interestin my investigations and for opening the doors to computational neuroscience and Profesor MiguelLópez of the Biology Faculty for given his valuable time to advise me. Also many thanks to JuanaCalle for her help in fighting ‘red tape’.Many thanks to all my colleagues of the TAMS group of the University of Hamburg, for the wayin which they received me and the good times we had together: Tim Baier, Sascha Jockel, AndreasMäder, Manfred Grove and Daniel Westhoff. Special thanks to Tatjana Tetsis (Lu) for her logistichelp and to Professor Jianwe Zhang for allowing me to be part of his group for three months. Iam specially indebted to Houxiang Zhang who adopted me as his disciple and shared with me hiswisdom. Since then we have continued to work together.iii
Modular Robotics and Locomotion: Application to Limbless robots
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Sections
« prev | next »- 2.3.4 Bio-Inspired Robotics groups at EPFL
- 2.3.5 Others
- 2.4 Self-propelled apodal robots
- 2.4.1 Hirose Fukushima Robotics Lab (TiTech)
- 2.4.2 German National Research centre (GMD)
- 2.4.3 University of Michigan: OmniTread
- 2.4.4 EPFL Intelligent Systems Laboratory: Swarm-bot
- 2.5. MODULAR ROBOTS AND LOCOMOTION 25
- 2.4.5 Institute of Robotics at Beihang University (BUAA): JL-I
- 2.5 Modular robots and locomotion
- 2.5.1 A new approach to the problem of locomotion
- 2.5.2 Polypod
- 2.5.3 Polybot
- 2.5.4 Ckbot
- 2.5.5 M-TRAN
- 2.5.6 CONRO
- 2.5.7 SuperBot
- 2.5.8 Yamor
- 2.5.9 Molecube
- 2.6 Modular Robots and Structures
- 2.7 Classification of the modular robots
- 2.8 Co-ordination and locomotion
- 2.8.1 The problem of co-ordination
- 2.8.2 First approach: Manual solution
- 2.8.3 Approach II: Inverse Kinematics
- 2.8.4 Approach III: Bio-inspired
- 2.8.5 Approach IV: sinusoidal generators
- 2.9. MODULAR ROBOTS APPLICATIONS 49
- 2.9 Modular robots applications
- 2.10 Conclusions
- 3.1 Introduction
- 3.2 Models of modules
- 3.2.1 Wired model
- 3.2.2 Hexahedral model
- 3.2.3 Real model: Y1 Module
- 3.3 Models of apodal robots
- 3.3.1 Parameters
- 3.3.2 Centre of mass
- 3.3.3 Types of connection
- 3.3.4 Blocks
- 3.3.5 Dimensions
- 3.4 Kinematic model
- 3.4.1 Definitions
- 3.4.2 Restrictions
- 3.4.3 Kinematic parameters
- 3.4.4 Specification of movements
- 3.5 Control model
- 3.5.1 Sinusoidal generators
- 3.5.2 Model for the pitch-pitch group
- 3.5.3 Model for the pitch-yaw group
- 3.5.4 Control spaces
- 3.5.5 Discussion about sinusoidal generators
- 3.5.6 Direct and inverse kinematics
- 3.6 Mathematical model
- 3.6.1 Introduction: Curves and waves
- 3.6.2 Serpenoid curve/wave
- 3.6.3 Discrete serpenoid curve/wave
- 3.6.4 3D serpenoid curve/wave
- 3.6.5 Circular curve/wave
- 3.7 Conclusions
- Locomotion in 1D
- 4.1 Introduction
- 4.2 Continuous model
- 4.2.1 Wave propagation
- 4.2.2 Serpenoid Wave
- 4.2.3 Shape space h1
- 4.2.4 The robot’s dimensions
- 4.2.5 Stability principle
- 4.2.6 Step characterisation
- 4.3 Discrete model
- 4.3.1 Introduction
- 4.3.2 Differences to the continuous model
- 4.3.3 Discretization
- 4.3.4 Shape
- 4.3.5 Dimensions
- 4.3.6 Stability
- 4.3.7 Characterisation of the step
- 4.3.8 Hexahedral model
- 4.4 Kinematics
- 4.4.1 Introduction
- 4.4.2 Control space
- 4.4.3 Transformation of spaces
- 4.4.4 Locomotion region
- 4.4.5 Direct kinematics
- 4.4.6 Inverse kinematics
- 4.5 Case of study
- 4.5.1 Range of values of the parameters and constants
- 4.5.2 Shape space
- 4.5.3 Control space
- 4.5.4 Locomotion region
- 4.5.5 Working points
- 4.5.6 Locomotion
- 4.6 Principles of locomotion
- 4.7 Conclusions
- 5.1 Introduction
- 5.2 Problem of 2D locomotion
- 5.2.1 Approach
- 5.2.2 Outline
- 5.2.3 Methodology employed
- 5.2.4 Kinematics
- 5.3 Gaits
- 5.3.1 Solutions found
- 5.3.2 Classification according to waves
- 5.3.3 Characterisation of the subspaces gi
- 5.3.4 Stability
- 5.4. LOCOMOTION IN A STRAIGHT LINE 169
- 5.4 Locomotion in a straight line
- 5.4.1 Description
- 5.4.2 Stability
- 5.5 Circular path
- 5.5.1 Description of the gait
- 5.5.2 Robot shape
- 5.5.3 Paths
- 5.5.4 Stability
- 5.5.5 Discrete robot
- 5.6 Rolling
- 5.6.1 Description of the gait
- 5.6.2 Robot shape
- 5.6.3 Mechanism of rolling
- 5.6.4 Robot’s sections
- 5.6.5 Kinematics
- 5.6.6 Limitations from the geometry
- 5.6.7 Discrete model
- 5.6.8 Summary
- 5.7 Sideways movement
- 5.7.1 Introduction
- 5.7.2 Gait description
- 5.7.3 Robot shape
- 5.7.4 Stability
- 5.7.5 Wave types for the movement
- 5.7.6 Mechanism of movement
- 5.7.7 Kinematics
- 5.7.8 Inclined movement
- 5.7.9 Flapping movement
- 5.7.10 Discrete model
- 5.7.11 Summary
- 5.8 Rotation
- 5.8.1 Introduction
- 5.8.2 Gait description
- 5.8.3 The Robot’s shape
- 5.8.4 Stability
- 5.8.5 Rotation mechanism
- 5.8.6 Kinematics
- 5.8.7 Rotation in ’U’
- 5.8.8 Discrete robot
- 5.9 Case study
- 5.9.1 Locomotion in a straight line
- 5.9.2 Circular path
- 5.9.3 Rolling
- 5.9.4 Sideways movement
- 5.10. PRINCIPLES OF LOCOMOTION 233
- 5.9.5 Rotation
- 5.10 Principles of locomotion
- 5.11 Conclusions
- 6.1 Introduction
- 6.2 Modular robotics and minimum configurations
- 6.2.1 Atomic Unit of Movement (AUM)
- 6.2.2 Maximisation of energy efficiency
- 6.2.3 Analysis and synthesis of gaits
- 6.2.4 Design and testing of the modules
- 6.3 Problem to be resolved
- 6.3.1 Exposition
- 6.3.2 Scheme
- 6.3.3 Methodology
- 6.3.4 Kinematics
- 6.4 Configurations PP and PYP
- 6.4.1 Solutions found
- 6.4.2 Control models
- 6.4.3 Kinematic models
- 6.5 Gaits
- 6.5.1 Solutions found
- 6.5.2 Characterisation of the subspaces Gi
- 6.6 Locomotion in a straight line
- 6.6.1 Description of the movement
- 6.6.2 Study of the stages
- 6.6.3 Step
- 6.6.4 Dimensions
- 6.6.5 Summary
- 6.7 Rolling movement
- 6.7.1 Description of the movement
- 6.7.2 Kinematic model
- 6.7.3 Angle of rotation θ1
- 6.7.4 Functions of stability
- 6.7.5 Conditions for rolling
- 6.7.6 Regions of movement
- 6.7.7 Step
- 6.7.8 Case study
- 6.7.9 Summary
- 6.8 Sideways movement
- 6.8.1 Description of the movement
- 6.8.2 Stability
- 6.8.3 Step
- 6.8.4 Direction of the movement
- 6.8.5 Summary
- 6.9 Rotation
- 6.9.1 Description of the movement
- 6.9.2 Step
- 6.9.3 Direction of turn
- 6.9.4 Summary
- 6.10. PRINCIPLES OF LOCOMOTION 299
- 6.10 Principles of locomotion
- 6.11 Conclusions
- 7.1 Introduction
- 7.2 Developed platform
- 7.2.1 Y1 Modules
- 7.2.2 Robots
- 7.2.3 Control scheme
- 7.2.4 Electronics
- 7.2.5 Software
- 7.3. EXPERIMENTS OF LOCOMOTION IN 1D 313
- 7.3 Experiments of locomotion in 1D
- 7.3.1 The robot’s shape
- 7.3.2 Stability
- 7.3.3 Displacement
- 7.3.4 Step
- 7.3.5 Step and phase difference ∆φ
- 7.4. EXPERIMENTS OF LOCOMOTION IN 2D 329
- 7.4 Experiments of locomotion in 2D
- 7.4.1 3D serpenoid waves
- 7.4.2 Movement in a straight line
- 7.4.3 Sideways movement
- 7.4.4 Rotation
- 7.4.5 Rolling movement
- 7.4.6 Circular path
- 7.5. EXPERIMENTS OF THE MOVEMENT OF THE MINIMUM CONFIGURATIONS 373
- 7.5 Experiments of the movement of the minimum configura-
- 7.5.1 Movement in a straight line
- 7.5.2 Rotation
- 7.5.3 Sideways movement
- 7.5.4 Rolling movement
- 7.5.5 Circular path
- 7.6 Conclusions
- 8.1 Main contributions
- 8.2 Other contributions
- 8.2.1 About methodologies
- 8.2.2 About movement in one dimension
- 8.2.3 About movement in a plane
- 8.2.4 About minimum configurations
- 8.3. FUTURE LINES OF INVESTIGATION 401
- 8.2.5 About the robotic platform developed
- 8.3 Future lines of investigation
- Demonstrations and developments
- A.1 Centre of mass of an apodal robot
- A.2 Supporting segments of the PP configuration
- A.2.1 Supporting segment 1
- A.2.2 Calculation of the supporting segment 2
- A.3. TRANSITIONAL PHASE OF THE PP CONFIGURATION 411
- A.3 Transitional phase of the PP configuration
- A.4 Rotation angle of the PYP configuration
- A.4.1 Stage 1
- A.4.2 Stage 2
- Genetic Algorithms
- B.1 Description
- B.2 Example
- Y1 modules
- C.1 Plans
- C.2 Assembling
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