18.272 Praktikum: 12 Snake-like robot realization Lecturers Lecturers Houxiang Houxiang Zhang Zhang Manfred Manfred Grove Grove @Tams/hzhang Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 1 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 2 Acknowledgments Bioinspiration and Robotics: Walking and Climbing Robots Edited by: Maki K. Habib, Publisher: I-Tech Education and Publishing, Vienna, Austria, ISBN 978-3-902613-15-8. http://s.i-techonline.com/book/ My colleague Juan Gonzalez-Gomez from the School Engineering, Universidad Autonoma de Madrid in Spain. Other great work and related information on the internet http://en.wikipedia.org/wiki/self- Reconfiguring_Modular_Robotics Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 3 Lecture material Modular Self-Reconfigurable Robot Systems: Challenges and Opportunities for the Future, by Yim, Shen, Salemi, Rus, Moll, Lipson, Klavins & Chirikjian, published in IEEE Robotics & Automation Magazine March 2007. Self-Reconfigurable Robot: Shape-Changing Cellular Robots Can Exceed Conventional Robot Flexibility, by Murata & Kurokawa, published in IEEE Robotics & Automation Magazine March 2007. Locomotion Principles 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots, by Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo, One Chapter in Book "Bioinspiration and Robotics: Walking and Climbing Robots", 2007, pp.403-428. Locomotion Capabilities a Modular Robot with Eight Pitch-Yaw-Connecting Modules, by Juan Gonzalez-Gomez, Houxiang Zhang, Eduardo Boemo, Jianwei Zhang: The 9th International Conference on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, CLAWAR 2006, Brussels, Belgium, September 12-14, pp.150-156, 2006. Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 4
Outline today s lecture Build a snake-like modular robot Realization different locomotion gaits Linear gait Turning gait Rolling gait Lateral shift Rotation 1D 1D Topology: Topology: Pitch-Pitch Locomotion Locomotion in in 1D: 1D: 8 pitch-connecting modules Locomotion Locomotion in in 2D: 2D: Pitch-Yaw-Pitch 8 pitch-yawconnecting modules 2D 2D Topology: Topology: Locomotion Locomotion in in 2D: 2D: Star 3 modules Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 5 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 6 Outline today s lecture GZ-I with four connecting faces Build a snake-like modular robot Realization different locomotion gaits Linear gait Turning gait Rolling gait Lateral shift Rotation Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 7 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 8
Your tasks Caterpillar-like minimal configurations Caterpillar with 4 to 8 modules Snake-like minimal configurations ( new question) Snake-like Your tasks Caterpillar-like minimal configurations Caterpillar with 4 to 8 modules Snake-like minimal configurations ( new question) Snake-like Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 9 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 10 Outline today s lecture Build a snake-like modular robot Realization different locomotion gaits Linear gait Turning gait Rolling gait Lateral shift Rotation Locomotion controlling method The sinusoidal generators produce very smooth s and have the advantage making the controller much simpler. Our model is described by the following equation. 2π y i = Ai sin( t + φi ) + Oi T Where y i is the rotation angle the corresponding module; A i is the amplitude; T is the control period; t is time; Φ i is the phase; O i is the initial fset. Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 11 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 12
Locomotion controlling method (cont ) Locomotion capabilities Linear gait Forward and backward Turning gait Turn left and right; or the robot moves along an arc Rolling gait The robot rolls around its body axis Lateral shift They are divided into horizontal and vertical groups, which are described as H i and V i respectively. Where i means the module number; ΔΦ V is the phase difference between two adjacent vertical modules; ΔΦ H is the phase difference between two adjacent horizontal modules; ΔΦ HV is the phase difference between two adjacent horizontal and vertical modules. Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 13 The robot moves parallel Rotation The robot rotates around its body axis Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 14 Locomotion capabilities-linear gait Locomotion capabilities-turning gait A V A H =0 = A V A H =0 = 0 0 ΔΦV = 120 ΔΦV = 120 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 15 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 16
Locomotion capabilities-rolling gait Locomotion capabilities-lateral shift A V A H A V A H ΔΦV ΔΦH ΔΦVH =9 0 ΔΦV=100 ΔΦH=100 ΔΦVH Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 17 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 18 Locomotion capabilities-rotating gait Summary A V A H ΔΦV=120 ΔΦV=50 ΔΦVH Gate types Linear Turning Rolling Lateral Rotation Parameters for sinusoidal generators A Vi 0; A Hi =i =0 ΔΦ V =100-120, i 0 A Hi, A Vi 0; i =i =0 ΔΦ V =100-120, i =0 ΔΦ V =ΔΦ H =0, ΔΦ VH =90 ΔΦ V =ΔΦ H =100, ΔΦ VH =0 ΔΦ V =120, ΔΦ H =0, ΔΦ VH =50 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 19 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 20
Summary It is time for you now Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 21 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 22 18.272 Praktikum: 13 Open possibilities using GZ-I Lecturer Lecturer Houxiang Houxiang Zhang Zhang Manfred Manfred Grove Grove Thanks for your attention! Any questions? @Tams/hzhang Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 23 Institute TAMS s http://tams-www.informatik.uni-hamburg.de/hzhang 24