Modular Robots Rolling Dynamically

Videos of numerical simulations and experimental implementations of three modes of rolling for modular robots.

Here is a link to the paper: http://www.seas.upenn.edu/~dmel/mellingerICRA09.pdf

Category:

Science & Technology

Tags:

• modular
• robots
• rolling

[goldenzoltan]

What is the most energy efficient method of rolling and have you tried turning while rolling yet?

[TheDmel]

@goldenzoltan The first gait is probably the most efficient and practical for a high degree-of-freedom modular loop. The last two gaits were designed for a single DOF system that can only change its axis lengths like the one shown in "Simple Robot Rolling Dynamically."

With this setup we can only roll forward and backward, no turning.

[TheDmel]

@goldenzoltan The first gait is probably the most efficient and practical for a high degree-of-freedom modular loop. The last two gaits were designed for a single DOF system that can only change its axis lengths like the one shown in "Simple Robot Rolling Dynamically."

With this setup we can only roll forward and backward, no turning.

[Kargoneth]

Strange. How do you keep them from falling perpendicular to the intended direction of movement when they are rocking back and forth?

Interesting video.

[TheDmel]

@Kargoneth It is wide enough so that it is does not tip over in the perpendicular direction.

[Razer1103]

@Kargoneth I was thinking the same thing... what if it knocked over?

Say.. what if the ground was tilted?

[JT9531]

1. Imma get you! just you ugh, yep, ugh nearly there.. yeugh! ahh

2. anda wop anda wop and wop!

3. anda... oh my cord ran out.... :/

[orika001]

remind me of that star wars drone with shield

[roidroid]

@Einstien121 that may be difficult to achieve though with modular robots, which is what this video is about. How are the robotic modules in your 2 separate wheels going to be electronically linked to those in the other wheel? Hmm, unless it just operates as 2 separate nested robots.

Wheel within a wheel, with friction reduced. What you've essentially described is just one big ordinary motor, complete with bearing.

[Einstien121]

hey cant you just make it a wheel within another wheel and and reduce the friction within them and then a motor that moves forward in the middle so when the motor moves forward then the whole thing moves forward ? just saying

[invisiblekincajou]

one billionth part of T1000?