Abstract
This paper adopts a set of GZ-I robot modules and a Note module for construction of an H-shaped four-legged robot. Kinematics graph theory and homogeneous matrix transform are applied for gait design and locomotion planning. Its forward crawling motion is designed and simulated by computers. The corresponding control scheme of the modular robot is also studied in this paper, which can control 8-channel modules and realizes rotational speed adjustable by an 8-bit microcontroller. Experiments show the feasibility of the system structure and effectiveness of the motion control.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Roberts, G.: A Modular Robot That Puts Itself Back Together Again, vol. 3. New York Times (July 28, 2009)
Murata, S., Yoshida, E., Kamimura, A., Kurokawa, H., Tomita, K., Kokaji, S.: M-TRAN: Self-Reconfigurable Modular Robotic System. IEEE/ASME Transactions on Mechatronics 7(4), 431–441 (2002)
Kurokawa, H., Kamimura, A., Yoshida, E., Tomita, K., Murata, S., Kokaji, S.: Self-Reconfigurable Modular Robot (M-TRAN) and its Motion Design. In: Seventh International Conference on Control, Automation, Robotics And Vision. Singapore (2002)
Yim, M., Zhang, Y., Duff, D.: Modular Robots. IEEE Spectrum Magazine, 30–34 (February 2002)
Yim, M., Roufas, K., Duff, D., Zhang, Y., Eldershaw, C., Homans, S.: Modular Reconfigurable Robots in Space Applications. Autonomous Robot Journal. Special Issue for Robots in Space (2003)
Shen, W.M., Krivokon, M., Chiu, H., Everist, J., Rubenstein, M., Venkatesh, J.: Multimode locomotion via SuperBot reconfigurable robots. Autonomous Robots 20(2), 165–177 (2006)
Castano, A., Shen, W.M., Will, P.: CONRO: Towards Deployable Robots with Inter-Robot Metamorphic Capabilities. Autonomous Robots 8(4), 309–324 (2000)
Moeckel, R., Jaquier, C., Drapel, K., Dittrich, E., Upegui, A., Ijspeert, A., Yamor: Bluemove.: An autonomous modular robot with Bluetooth interface for exploring adaptive locomotion. In: Proceeding of the 8th International Conference on Climbing and Walking Robots, London, U.K, pp. 685–692 (2005)
Zykov, V., et al.: Evolved and Designed Self-Reproducing Modular Robotics. IEEE Transactions on Robotics 23(2), 308–319 (2007)
Zhang, H., Gonzalez-Gomez, J., Xie, Z., Cheng, S., Zhang, J.: Development of a Low-cost Flexible Modular Robot GZ-I. In: Proc. of 2008 IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronlics, Xi’an, China, pp. 4–7 (2008)
Gonzalez-Gomez, J., Boemo, E.: Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift. In: Proc. of the 8th Intl. Conf. on Climbing and Walking Robots, London, UK, pp. 667–674 (2005)
Gonzalez-Gomez, J., Zhang, H., Boemo, E., Zhang, J.: Locomotion Capabilities of a Modular Robot with Eight Pitch-Yaw-Connecting Modules. In: The 9th Intl. Conf. on Climbing and Walking Robots and their Supporting Technologies for Mobile Machines, Brussels, Belgium, pp. 12–16 (2006)
Gonzalez-Gomez, J., Zhang, H., Boemo, E.: Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots. In: Bioinspiration and Robotics: Walking and Climbing Robots, Vienna, Austria, pp. 403–428 (2007)
Li, Y., Zhang, H., Chen, S.Y.: A four-legged robot based on GZ-I modules. In: 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, pp. 921–926 (2009)
Matsuo, T., Kazuo, I.: A CPG control system for a modular type mobile robot. International Congress Series, vol. 1301, pp. 206–209 (2007)
Sproewitz, A., et al.: Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization. International Journal of Robotics Research 27(3/4), 423–443(2008)
Kurokawa, et al.: Self-reconfigurable M-TRAN structures and walker generation. Robotics & Autonomous Systems 54(2), 142–149 (2006)
He, J., Lu, C.F., Yin, S.T.: The design of CPG control module of the bionic mechanical crab. In: 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 280–285 (2006)
Seo, K., Slotine, J.J.: Models for global synchronization in CPG-based locomotion. In: Proceedings - IEEE International Conference on Robotics and Automation, pp. 281–286 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Fang, Y., Zhang, H., Li, X., Chen, S.Y. (2010). The Mathematical Model and Control Scheme of a Four-Legged Robot Based on GZ-I and Note Module. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_28
Download citation
DOI: https://doi.org/10.1007/978-3-642-16584-9_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16583-2
Online ISBN: 978-3-642-16584-9
eBook Packages: Computer ScienceComputer Science (R0)