Desarrollo de Robots modulares de tipo serpiente

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1 Desarrollo de Robots modulares de tipo serpiente
para búsqueda y rescate en entornos urbanos Juan González-Gómez, Javier Gonzalez-Quijano, Houxiang Zhang, Mohamed Abderrahim Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots Robotics Lab Universidad Carlos III de Madrid 8º Workshop - Robots de Exteriores- Robocity 2030-II Centro de Automática y Robótica (CSIC-UPM) Arganda del Rey, Madrid 2/Dic/2010

2 Índice Habilidades Sentido del tacto Mecánica Experimentos
Introducción Habilidades Sentido del tacto Mecánica Experimentos Conclusiones This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized. Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

3 Búsqueda y rescate en entornos urbanos (I)
1.- Introducción Búsqueda y rescate en entornos urbanos (I) Entorno: No estructurado/caótico Escombros ¡Peligroso! Prioridad: Encontrar supervivientes rápidamente Robots: Versátiles Flexibles Adaptables A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

4 Búsqueda y rescate en entornos urbanos (II)
1.- Introducción Búsqueda y rescate en entornos urbanos (II) Los robots serpiente/gusano son buenos candidatos: Pequeña sección Cuerpo flexible Modulares Tolerantes a fallos Versátiles Bajo coste A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

5 Búsqueda y rescate en entornos urbanos (III)
1.- Introducción Búsqueda y rescate en entornos urbanos (III) A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Tres capacidades importantes: locomoción, trepar y agarrar Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

6 Controlador bio-inspirado para robots ápodos
2.- Habilidades: Locomoción Controlador bio-inspirado para robots ápodos CPG Osciladores sinusoidales: Ventajas: Se necesitan pocos recursos para su implementación A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation ϕ 𝑖 𝑡 = 𝐴 𝑖 sin 2π 𝑇 𝑡+ ψ 𝑖 + 𝑂 𝑖 Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

7 Modos de caminar 2.- Habilidades: Locomoción
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

8 Modos de trepar 2.- Habilidades: Trepar
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

9 Principio de ventosas pasivas vibrantes
2.- Habilidades: Trepar Principio de ventosas pasivas vibrantes A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

10 Modos de agarre 3.- Agarre con el cuerpo 1.- Agarre con la cola
2.- Habilidades: Agarrar Modos de agarre A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation 1.- Agarre con la cola 3.- Agarre con el cuerpo 2.- Agarre con la cabeza 4.- Agarre con dos puntos Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

11 Sentido del tacto Anillos táctiles capacitivos y flexibles
Fáciles de adaptar a cualquier robot serpiente Resolución adaptable cambiando la distancia entre anillos A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

12 Módulos y robots Módulos Y1 Módulos MY1 Prototipos de 1D y 2D
4.- Mecánica Módulos y robots Módulos Y1 Módulos MY1 Prototipos de 1D y 2D A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

13 Locomoción Trepar Vídeos 5.- Experimentos
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

14 Agarre Simulación del agarre de un cilindro, usando OpenRave
5.- Experimentos Agarre A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Simulación del agarre de un cilindro, usando OpenRave Plug-in desarrollado por nosotros Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

15 Conclusiones Trabajos futuros
Buenos candidatos para usarse en aplicaciones de búsqueda y rescate Implementación de 3 habilidades: Locomoción, trepar y agarre El sentido del tacto es importante para implementar esta habilidades Todavía queda mucho por desarrollar Trabajos futuros Integración del sentido del tacto con la locomoción Movimientos en 2D sobre superficies verticales Implementación del agarre en los prototipos A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation Desarrollo de Robots modulares de tipo serpiente para búsqueda y rescate en entornos urbanos

16 Desarrollo de Robots modulares de tipo serpiente
para búsqueda y rescate en entornos urbanos Juan González-Gómez, Javier Gonzalez-Quijano, Houxiang Zhang, Mohamed Abderrahim Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots Robotics Lab Universidad Carlos III de Madrid 8º Workshop - Robots de Exteriores- Robocity 2030-II Centro de Automática y Robótica (CSIC-UPM) Arganda del Rey, Madrid 2/Dic/2010