Robots Libres e Imprimibles

Juan Gonzlez-Gmez y Alberto Valero Gmez,

Robotics Lab

Universidad Carlos III de Madrid

Open Source Hardware Convention 23-25 Septiembre 2011. Madrid

Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots

ndice

Introduccin

Miniskybot

Robots derivados

Plastic Valley UC3M!

Conclusiones y trabajos futuros

Robots libres e imprimibles

Open Source Hardware Convention 2011

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.

Modelo Open source

El modelo open source funciona

Modelo distribuido, con alcance mundial

Miles de personas cooperando

Aparicin de comunidades

Herramientas: repositorios, wikis,...

Patrimonio tecnolgico de la humanidad

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

Robtica Libre (I)

Robots desarrollados por la comunidad

Compartidos por Internet

Robots que evolucionan

Emergencia de diseos asombrosos!

Por qu no aplicar este modelo a la robtica?

Ventajas:

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

Robtica Libre (II)

Los robots son objetos fsicos y no bits como el software

Se necesita tiempo y dinero para duplicar un objeto fsico

Cmo lo aplicamos?

Problemas:

Enfoque:

Internet

Planos(Bits)

Planos(Bits)

Compartir

Fabricar

Objeto fsico

Convertir a bits

Objeto fsico

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

Robtica Libre (III)

Software

Mecnica

Planosmeanicos

Electrnica

Planos elctricos

void timer0_delay(unsigned char t0ini){ //-- Dar valor inicial del timer TMR0=t0ini; //-- Flag de interrupcion a cero T0IF=0; //-- Esperar a que transcurra el tiempo indicado while(T0IF==0);

Programa

Robot fsico

Robot Libre

Robot Libre: Aplicamos las 4 libertades software libre a los planos del robot: Mecnica, electrnica y software

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

Robtica Libre (IV)

Robot Libre: Son necesarios los ficheros fuente de los planos

Software

Tool chains

void timer0_delay(unsigned char t0ini){ //-- Dar valor inicial del timer TMR0=t0ini; //-- Flag de interrupcion a cero T0IF=0; //-- Esperar a que transcurra el tiempo indicado while(T0IF==0);

Robot fsico

Robot Libre

Herramientasgeneradoras

EDA

CAD

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

Herramientas generadoras (I)

Las herramientas generadoras imponen restricciones a la comparticin!

Pago de licencias

Gratis, pero...Funcionalidad limitada

Restricciones en el uso

Restricciones en el Sistema Operativo

Planos en formatos propietarios

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

Hardware libre

2

Panos libres

Software propietario

Panos libres

Software Libre

El hardware libre lo podemos clasificar en:

Hardware libre

Hardware libre

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

Fabricacin con impresoras 3D open source

Impresora 3D: Dispositivo que construye objetos fsicos a partir de bits

Coste:Propietarias: 12.000 - 60.000

Open source: 350 - 2.000

Material: Plstico: ABS(26/kg), PLA(29/kg)

Objeto fsico

Bits

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

Impresoras 3D Open source

Reprap project: Mquina auto-replicante (2005)

Thingiverse: Sitio para compartir objetos fsicos (2009)

Makerbot: Comercializan impresoras 3D open-source (2009)

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

Robots para educacin

Libres

Nuestros robots tienen las siguientes caractersticas:

Imprimibles

Herramientas libres

2

Diseo disponible para que cualquiera lo pueda usar, estudiar, modificar, distribuir, fabricar o vender

Se pueden fabricar utilizando una impresora 3D open-source

Se ha diseado exclusivamente utilizando herramientas libres. Esto garantiza que no hay restricciones en su modificacin, comparticin o fabricacin.

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

ndice

Introduccin

Miniskybot

Robots derivados

Plastic Valley UC3M!

Conclusiones y trabajos futuros

Robots libres e imprimibles

Open Source Hardware Convention 2011

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.

Robots previos: Skybot

Robot libre (NO imprimible)

Creado en 2005

Piezas cortadas por lser

Microcontrolador: PIC16F876A

Los estudiantes NO han evolucionado la mecnica

http://goo.gl/cOVYx

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

Miniskybot 0.1: hola mundo

Aprender impresin 3D

Viabilidad de robots imprimibles

Chsis mnimo para estimular a los estudiantes

Que comience la evolucin!

http://www.thingiverse.com/thing:4954

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

Miniskybot 1.0

Robot diferencial con rueda loca

Robot completo: chsis + electrnica + pilas + sensores

Los estudiantes lo pueden modificar fcilmente

http://www.thingiverse.com/thing:7989

Video 1

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

Mecnica

9 piezas imprimibles

Tornillos/tuercas M3

Neumticos con juntas tricas

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

Mecnica: Herramientas Libres de diseo

Las piezas son cdigo que al compilarse genera las piezas grficas

OpenScad

module U_front_skycube() {difference() {union() {//-- Main part: U-pieceFutaba_U_union2(bottom_thick=bottom_thick,h=h);//-- Ear 1translate([d1_x,0,0])cube(size=[ear_x-0.01,ear_y,bottom_thick], center=true);//-- Ear 2

FreeCad

Para visualizar el robot con todas las piezas ensambladas

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

Diseo paramtrico

Las piezas son paramtricas. Simplemente cambiando parmetros en el cdigo se obtienen piezas diferentes

Ejemplos:

Portapilas:

Tipo de pila

Nmero de pilas

Ruedas:

Dimetro

Grosor

...

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

Electrnica (I)

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

Electrnica (II)

Tarjeta Skycube

Diseada con: KICAD

KICAD es software libre

http://goo.gl/HAk5W

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

Construyendo el Miniskybot

Tiempo de impresin: 3h

Piezas imprimibles

Material no imprimible

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

Coste