Toward Active Cannulas: Miniature Snake-Like Surgical Robots
Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan...
Transcript of Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan...
![Page 1: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/1.jpg)
1
Dr. Juan González Gómez
Modular snake robots
System engineering and automation departmentRobotics Lab
Carlos III University of Madrid
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
(Spain)
![Page 2: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/2.jpg)
2
Agenda
1. Introduction
2. Modules
3. Locomotion in 1D
4. Locomotion in 2D
5. Conclusions
Modular snake robots
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
![Page 3: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/3.jpg)
3
One module, multiple configurations
Modular robots
![Page 4: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/4.jpg)
4
Modular robots: advantages
● Self-reconfiguration● Self-repair● Self-duplication
Versatility Lower costFault tolerance
Rapid prototiping New capabilities
![Page 5: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/5.jpg)
5
New capabilities
Building solid object!
(RoomBot, Arredondo et al.)
● Modular robotic furnitures, capable of moving :-)
Bioinspired Robotics Lab at EPFL
Modular flying robots
(Distributed flight array, Oung et al.)
ETH Zurich
![Page 6: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/6.jpg)
6
Morphology
1D topology 2D topology 3D topology
Pitch-pitch Yaw-yaw Pitch-yaw
Snake robots
![Page 7: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/7.jpg)
7
CPG CPG CPG
Controller
Unit in charge of moving the joints for achieving the robot locomotion
Classic
● Mathematical models● Inverse kinematics● Depend on the morphology
Bio-inspired
● Nature imitation● Central pattern
generators (CPG)
![Page 8: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/8.jpg)
8
Controller for snake robots
● Replace the CPGs by sinusoidal oscillators
i t =Aisin 2
TtiOi
● Sinusoidal oscillators:
Advantages:● Very few resources are
needed for their implementation
CPG CPG CPG
![Page 9: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/9.jpg)
9
Agenda
1. Introduction
2. Modules
3. Locomotion in 1D
4. Locomotion in 2D
5. Conclusions
Modular snake robots
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
![Page 10: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/10.jpg)
10
Y1 modules family
● One degree of freedom● Easy to build● Servo: Futaba 3003● Size: 52x52x72mm● Open source
Y1Repy1
MY1
Types of connection
![Page 11: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/11.jpg)
11
REPY-1: 3D printables
● Printables on an Open source 3d printers (Reprap)● Material: ABS plastic (the same material than Lego)● rough● Print time: 1h 30 min (45 min each part)
![Page 12: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/12.jpg)
12
MY1 modules
● Material: Aluminium 2mm wide● Consist of three screwed parts● Designed mainly for Educational purposes
![Page 13: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/13.jpg)
13
Unimod
● Module capable of oscillating autonomously● 1D topology robots are built from them
![Page 14: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/14.jpg)
14
Module oscillation
t =Asin2
T
Benging angle Sinusoidal oscillator
Parameters:
● Amplitude: A● Period: T
Demo
![Page 15: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/15.jpg)
15
Oscillation of two modules
1 t =Asin2
T0 2 t =Asin
2
T0
New parameter:
● Phase difference:
It determines how a module oscillates in relation to other
Demo
![Page 16: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/16.jpg)
16
Agenda
1. Introduction
2. Modules
3. Locomotion in 1D
4. Locomotion in 2D
5. Conclusions
Modular snake robots
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
![Page 17: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/17.jpg)
17
Control model
![Page 18: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/18.jpg)
18
Minicube-I robot
Minimal configuration
Minimal modular robot capable of moving straight
Demo Video
![Page 19: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/19.jpg)
19
Cube3
● Morphology: 3 pitch modules ● Controller: 3 equal oscillators
Demo
![Page 20: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/20.jpg)
20
Cube 6
● Morphology: 6 pitch modules ● Controller: 6 equal oscillators
Demo
![Page 21: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/21.jpg)
21
Cube 8 Video
![Page 22: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/22.jpg)
22
CUBE 12
● Built by the students● Consist of 4 Cube3 independents robots● No communication between the segments
![Page 23: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/23.jpg)
23
CUBE 18
● 18 módulos● Length: 1.5 m● Date: 22/July/2010
Spanish record
Video
![Page 24: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/24.jpg)
24
CUBE 30
● 30 modules● Length: 2.5 m● Date: 07/March/2011
European record
![Page 25: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/25.jpg)
25
Agenda
1. Introduction
2. Modules
3. Locomotion in 1D
4. Locomotion in 2D
5. Conclusions
Modular snake robots
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
![Page 26: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/26.jpg)
26
Control model
![Page 27: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/27.jpg)
27
Minicube-II Robot
Minimal configuration
Minimal robot capable of reaching any point in a plane with any orientation
Demo
![Page 28: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/28.jpg)
28
Locomotion gaits
Av=40, Ah=0
Straight
v=120
Av=Ah40vh=90,v=0
Sideways
turning
Av=40, Ah=0Oh=30,v=120
Rotating
Av=10, Ah=40vh=90,v=180
Rolling
Av=Ah60
vh=90,v=0
![Page 29: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/29.jpg)
29
Cube 6 - 2DDemo
![Page 30: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/30.jpg)
30
Cube 8-2D Video
Spanish record
![Page 31: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/31.jpg)
31
Locomotion gaits
Straight
v=40 ,kv=2h=0
Sidewinding
v0, kv=kh ,vh=90
kh=1
Rotating
v0,kv=2kh ,vh=0Rolling
v0,vh=90
Turning
v=40 ,kv=3
h≠0
![Page 32: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/32.jpg)
32
Agenda
1. Introduction
2. Modules
3. Locomotion in 1D
4. Locomotion in 2D
5. Conclusions
Modular snake robots
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
![Page 33: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/33.jpg)
33
Conclusions
The controller based on sinusoidal generators is valid for the locomotion of 1D topology modular robots
● Very few computational resources required● Very smooth and natural movements● Minimal configurations of 2 and 3 modules
i t =Ai sin2
TiOi
![Page 34: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/34.jpg)
34
Future work
Snake robots for urban search and rescue operations:
● Capabilities needed (at least): Locomotion, climbing and grasping
![Page 35: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/35.jpg)
35
Future work (II)
Modular grasping:
![Page 36: Modular snake robots - Latest Seminar Topics for Engineering … · 2011-11-06 · 1 Dr. Juan González Gómez Modular snake robots System engineering and automation department Robotics](https://reader035.fdocuments.in/reader035/viewer/2022081515/5edefbcdad6a402d666a57db/html5/thumbnails/36.jpg)
36
Dr. Juan González Gómez
Modular snake robots
System engineering and automation departmentRobotics Lab
Carlos III University of Madrid
Riyadh, Saudi Arabia. March-4th-2011National Robotics & Intelligent Systems Center
King Abdulaziz City for Science and Technology (KACST)
(Spain)