Author:
Moeckel Rico,Jaquier Cyril,Drapel Kevin,Dittrich Elmar,Upegui Andres,Jan Ijspeert Auke
Abstract
PurposeThis paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion.Design/methodology/approachA new modular robot is presented called YaMoR (for “Yet another Modular Robot”). Each YaMoR module contains an FPGA and a microcontroller supporting a wide range of control strategies and high computational power. The Bluetooth interface included in each YaMoR module allows wireless communication between the modules and controlling the robot from a PC. A control software called Bluemove was developed and implemented that allows easy testing of the capabilities for locomotion of a large variety of robot configurations.FindingsWith the help of the control software called Bluemove, different configurations of the YaMoR modules were tested like a wheel, caterpillar or configurations with limbs and their capabilities for locomotion.Originality/valueThis paper demonstrates that modular robots can act as a powerful framework for exploring locomotion of a large variety of different types of robots. Although present research is limited to exploring locomotion, YaMoR modules are designed to be general purpose and support a variety of applications.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
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