locomoción de robots ápodos modulares. robotics lab. uc3m

8/9/2019 Locomocin de Robots podos modulares. Robotics Lab. UC3M

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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
mailto:[email protected]:[email protected]


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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




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



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




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


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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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



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So how does each node know whether or not it isresponsible for initiating the hormone diffusion?

Topology Mapping Module Type


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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



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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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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



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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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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


Scorpion Gait - DHM


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Hormone generated by Outer Arm node

Scorpion Gait - DHM


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Scorpion Obstacle Avoidance -DHM


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DHM

Obstacle found



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DHM


Obstacle found



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DHM


Obstacle found



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DHM



Obstacle found



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DHM



Obstacle found



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DHM

Obstacle avoided



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DHM


Obstacle avoided



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DHM


Obstacle avoided



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DHM



Obstacle avoided



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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.



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Configuration specific.



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Configuration specific.Does not work for all configurations.



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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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locomoción de robots ápodos modulares. robotics lab. uc3m

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