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Modular Robots - Locomotion andObstacle Avoidance
Avinash Ranganath
1. A brief introduction to the field of Reconfigurable Modular Robotics.
2. Juan Gonzalez s presentation on his work in the field of Modular Robotics.
3. Presenting my master thesis work in Modular Robotics.Supervisor: Marc Szymanski from IPR, KIT, Karlsruhe, Germany.
Supervisor: Barbara Webb from Edinburgh University, Edinburgh, Scotland.
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Introduction Reconfigurable Modular Robots
What areReconfigurableModular Robots?
Made up of severalindependent modules.
Which does not havea fixed morphology.
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Introduction Common Features of Reconfigurable Modular Robots
Each module is independent with its own on-board processor, sensor, actuator and power supply.
Each module can be connected to two or moremodules.
Ability of modules to connect to or disconnectfrom other modules autonomously.
Ability to communicate with other modules.
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Introduction Types of ReconfigurableModular Robots
Chain Type Lattic Type
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Motivation Reconfigurable Modular Robotics
Exploration in unknown environment.Outer space.
Collapsed building or disaster area.
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Control Mechanism ReconfigurableModular Robotics
Centralized Controller Easy to implement.
Susceptible to the
failure if the centralcontrolling modulefails.
Non scalable.
Under utilization of distributed computingcapabilities.
Distributed Controller Complex and difficultto implement.
RobustScalable
Distributed computingcapability withoutoverloading anyindividual module.
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Juans Presentation
Passing the baton to Juan...
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Robots modulares
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Topologa 1D
Pitch-pitch Pitch-yaw
Grupos de estudio
Robots podos
Robots modulares
Locomocin 1D Locomocin 2D
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Locomocin de robots podos
GAITs
Qu modos decaminar se consiguen?
Controlador
Cmo coordinar lasarticulaciones paralograr la locomocin?
CONTROL
Cual es el espacio decontrol de menordimensin ?
Configuracionesmnimas
Cuntos mduloscomo mnimo senecesitan para lograr lalocomocin?
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CPG CPG CPG
Controlador
Modelos para realizar la coordinacin e implementar el controlador:
Clsicos
Modelos matemticos Cinemtica inversa Dependen de la
morfologa del robot
Bio-inspirados
Imitar la naturaleza
Generadores Centralesde patrones: CPG
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Osciladores sinusoidales
Reemplazar los CPGs por OSCILADORES SINUSOIDALES
i t = Ai sin2T
t i
Osciladores sinusoidales:
Es viable?
CPG CPG CPG
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NDICE
1. Introduccin
2. Locomocin en 1D3. Locomocin en 2D
4. Plataforma
5. Conclusiones y trabajo futuro
Juan Gonzlez-Gmez [email protected] [email protected]
Locomocin de Robots podos modulares
05/Julio/2010
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Modelo de control
Locomocin en 1D: Resultados
El modelo es viable Movimiento: Propagacin de ondas.
Adelante-Atrs Configuracin mnima: 2 mdulos Espacio de control mnimo: A , , T
Paso del robot N ondulaciones Velocidad
Vdeos 1-3
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Minicube-I (II)
Morfologa
2 modules con conexincabeceo-cabeceo
Controlador:
Dos generadores iguales Parmetros Ms informacin:
Demo
A , , T
Locomocin en 1D
http://bit.ly/9SNFXb
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NDICE
1. Introduccin
2. Locomocin en 1D
3. Locomocin en 2D4. Plataforma
5. Conclusiones y trabajo futuro
Juan Gonzlez-Gmez [email protected] [email protected]
Locomocin de Robots podos modulares
05/Julio/2010
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Locomocin en 2D: Resultados
El modelo es viable 5 movimientos: lnea recta, arco, lateral, rotar y rodar Configuracin mnima: 3 mdulos Espacio de control mnimo:
Vdeo 4
Modelo de control
Ah , Av , h , v , vh ,T
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Minicube-II
Morfologa:Tres mdulos con conexincabeceo-viraje
Control:
Tres generadores sinusoidales Parmetros:
A v ,A h , v , vh ,T
Demostracin
Locomocin en 2D
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NDICE
1. Introduccin
2. Locomocin en 1D
3. Locomocin en 2D
4. Plataforma5. Conclusiones y trabajo futuro
Juan Gonzlez-Gmez [email protected] [email protected]
Locomocin de Robots podos modulares
05/Julio/2010
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Mecnica: Familia de Mdulos Y1
Un grado de libertad Fciles de construir Servo: Futaba 3003 Tamao: 52x52x72mm Libres
Y1Repy1 MY1
Tipos de conexin:
El t i T j t Sk b
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Electrnica: Tarjeta Skycube
Hardware libre Diseada con KICAD
Robots modulares autnomos PIC16F876A Se integra en los mdulos MY1 Ms informacin:
http://bit.ly/FhPLl
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Simulacin (I)
Cmo hemos encontrado las soluciones?
Bsquedas en los espacios de control Utilizacin de algoritmos genticos (PGApack)
Funcin de evaluacin: Paso del robot Motor fsico: Open Dynamics Engine (ODE) Descarte de soluciones Comprobacin en robots reales
Cube Simulator
http://bit.ly/bnN4KP
Demo
Si l i (II)
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Simulacin (II) Demo
Simulador: OpenRave + OpenMR plugin OpenMR = OpenRave Modular Robot plugin Ms informacin: http://bit.ly/9a3fXk
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NDICE
1. Introduccin
2. Locomocin en 1D
3. Locomocin en 2D4. Plataforma
5. Conclusiones y trabajo futuro
Juan Gonzlez-Gmez [email protected] [email protected]
Locomocin de Robots podos modulares
05/Julio/2010
C l i
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Conclusiones
El modelo basado en generadores sinusoidales es vlido para lalocomocin de robots modulares con topologa de 1D
Requiere muy pocos recursos para su implementacin Se consiguen movimientos muy suaves y naturales
Se pueden realizar diferentes tipos de movimientos Configuraciones mnimas de 2 y 3 mdulos
i t = Ai sin2
T iO i
T b j f t (I)
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Trabajo futuro (I)
Aplicacin : Robots de bsqueda y rescate en zonas catastrficas Aplicacin : Robots de bsqueda y rescate en zonas catastrficas
Juan Gonzalez-Gomez, Javier Gonzalez-quijano, Houxiang Zhang, Mohamed Abderrahim, " Towardthe sense of touch in snake modular robots for search and rescue operations ". In Proc of theICRA 2010 workshop on modular robots: State of the art. May-3rd, Anchorage, Alaska
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Trabajo futuro (III)
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Trabajo futuro (III)
Capacidades : Locomocin, trepar y agarre de objetos
Trabajo futuro (IV)
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Trabajo futuro (IV)
Agarre y manipulacin de objetos con serpientes modulares
Trabajo futuro (V)
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Trabajo futuro (V)
Locomocin de otras configuraciones
Locomocin de
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Juan Gonzlez Gmez
Locomocin deRobots podos modulares
Dpto. Ingeniera de Sistemas y AutomticaRobotics Lab
Universidad Carlos III de Madrid
Juan Gonzlez-Gmez [email protected] [email protected]
05/Julio/2010
My Master Thesis
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My Master Thesis
Title: Distributed Control Algorithm For A MultiCellular Robotic Organism.Author: Avinash Ranganath
Under the EU sponsored modular roboticsproject called SYMBRION.
Objectives:
Develop a framework to control locomotion andobstacle avoidance behavior in modular robots.
Distributed controller.
My Master Thesis
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My Master Thesis
Unified controller for different modular roboticconfigurations.
Fault tolerance capability.
My work is based on Digital Hormone Method[DHM], as proposed by Shen et al. from ISI,USC.
SYMBRION Module
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SYMBRION Module
Homogeneous, opensided cubes.
2 interlocking 3D U
shaped body.1 motor with 1 DOF.
4 Connectors.
Screw driver wheels.1 tilt and multiple IRsensors.
Implementation Platform
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Implementation Platform
The framework was tested in a distributedsimulation environment called Symbricator3D.
I implemented the control algorithm on three
different robotic organisms.
Locomotion
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Locomotion
Coordinated local action of individual modulesproduces locomotion as a global behavior.
Eg: Caterpillar locomotion gait is a sin wave.
Modules oscillate between +45 and -45 degrees.Interval between the oscillations determine thewave length.
So how do you get individual modules toperform local actions to produce the globalbehavior based on the organism they are a partof?
Inspiration of DHM
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Inspiration of DHM
In multicellular biological organisms, there arevarious types of cells. Some of them generate anddiffuse hormones, which are targeted are certainother types of cells. All cell types receive these
hormone, but are reacted upon only by thedesignated type of cells.
-Wei Min Shen
Digital Hormone Method
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Digital Hormone Method
Topology Mapping - Where in the topology am Ilocated?
Local Communication - What are my neighbors
doing?Environment Input - What does my sensor readabout the local environment?
Internal Variables - What are the values of myinternal variables? Eg: Tilt sensor, Directionvariable, etc.
Caterpillar Gait Using DHM
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Caterpillar Gait Using DHM
Node_1: Rotates motor to +/- 45 degrees. Generate and initiatehormone diffusion.
Node_2 to Node_n-1: Perform the same action as the parentnode. Diffuse hormone.
Node_n: Perform same action as its parent. No hormonediffusion.
Node_1: After x amount of time, rotate motor in the oppositedirection. Generate and initiate hormone diffusion.
Node_1Node_n
Caterpillar Gait Using DHM
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Caterpillar Gait Using DHM
So how does each node know whether or not it isresponsible for initiating the hormone diffusion?
Topology Mapping Module Type
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Topology Mapping Module Type
Three distinct module types in caterpillar configuration.Tail: Node_1
Spine: Node_2 to Node_n-1
Head: Node_n
Each module has four connectors.
Left Front
Back Right
Topology Mapping Module Type
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Topology Mapping Module Type
Connector: Can be connected to another connector in fivedifferent ways.
Module: Can be connected to other modules around it in 5 =
625 different ways.
Modules communicate connector information with neighbors.Calculate Level_0 topology mapping.
Modules choose local action based on module type.
Obstacle Avoidance in Caterpillar
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Obstacle Avoidance in Caterpillar
Use IR sensors on the head node.Use pitched module for rotation.
Moves back if pitch module not present.
Head module generates Obstacle Hormone.Reacted upon either by the pitched or the tailmodule.
Pitched Module
IR Sensor
Obstacle Avoidance in Caterpillar
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Obstacle Avoidance in Caterpillar
What if there is no pitched module?Tail node becomes head node.
Head node becomes tail node.
Organism moves in the reverse direction.
Scorpion Organism
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p g
Outer Arm
IR Sensor
Inner Arm
Tail Head
IR Sensor
Scorpion Locomotion Gait
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p
Forward MotionLift arm up.
Swing arm forward.
Push arm down.Swing arm backward.
Outer arm moduleInner arm module
Scorpion Locomotion Gait
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p
Backward MotionLift arm up.
Swing arm backward.
Push arm down.Swing arm Forward.
Turn RightLeft arm forward.
Right arm backward.
Turn LeftRight arm forward.
Left arm backward.
Outer arm moduleInner arm module
Scorpion Gait - DHM
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p
Hormone generated by Head node
Scorpion Gait - DHM
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p
Hormone generated by Head node
Scorpion Gait - DHM
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p
Hormone generated by Head node
Hormone generated by Outer Arm node
Scorpion Gait - DHM
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Hormone generated by Head node
Hormone generated by Outer Arm node
Scorpion Obstacle Avoidance -DHM
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DHM
Obstacle found
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Outer Arm node
Obstacle found
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Outer Arm node
Obstacle found
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Head node
Hormone generated by Outer Arm node
Obstacle found
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Head node
Hormone generated by Outer Arm node
Obstacle found
Scorpion Obstacle Avoidance -DHM
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DHM
Obstacle avoided
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Outer Arm node
Obstacle avoided
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Outer Arm node
Obstacle avoided
Scorpion Obstacle Avoidance -DHM
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DHM
Hormone generated by Head node
Hormone generated by Outer Arm node
Obstacle avoided
Scorpion Obstacle Avoidance -DHM
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Hormone generated by Head node
Hormone generated by Outer Arm node
Obstacle avoided
Scorpion Topology
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Scorpion Topology
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Multi Level Topology Mapping
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Level-0 MappingHow a module is connected to each directlyconnected module.
Level-1 MappingHow a module is connected to modules that are atone modules distance away.
Level-n MappingConstrained to available memory.
Level-2 Topology Mapping
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C1C1 to C4: {(B,F), (B,F), (B,F)}
Level-2 Topology Mapping
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S1S1 to S4: {(B,F), (B,F), (B,B)}
S1 to S6: {(B,F), (B,F), (R,B)}
S5S5 to S2: {(B,F), (B,B), (F,B)}
S5 to S6: {(B,F), (B,B), (R,B)}
S7
S7 to S2: {(B,F), (B,R), (F,B)}S7 to S4: {(B,F), (B,R), (B,B)}
Drawbacks of the System
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Configuration specific.
Drawbacks of the System
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Configuration specific.
Drawbacks of the System
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Configuration specific.Does not work for all configurations.
Drawbacks of the System
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Configuration specific.Does not work for all configurations.
Drawbacks of the System
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Configuration specific.Does not work for all configurations.
The underlying rules and parameter for the
locomotion gait are hand coded.
What Next?
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Evolution of locomotion in higher order [3D]organisms.
Investigate search and exploration techniques.
Object (recognition) and manipulation.Use Juans robots by modifying it to includenecessary sensors and communicationchannel.
Look for a distributed simulation environment.
Questions
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