Simulation of Locomotion Principles of Inspired Modular Robots
The last few years have witnessed an increasing interest in modular reconfigurable robotics for research, education, and space applications. Normally, this kind of robots consists of many modules which are able to change the way they are connected. In addition the modular approach enables robots to reconfiguration capability which is very essential in tasks which are difficult for a fixed-shape robot. It makes the robotic system versatile, robust, effective and fast to prototype for the exploration, testing and analysis.
The new improved modular robot GZ-I was developed recently by our TAMS group. It features an easy-to-handle, fast-to-build and cost-efficient mechanical design for active joints which endow the robot with the ability of changing shape in two dimensions.
The Open Dynamics Engine (ODE)is a free, industrial quality library for simulating articulated rigid body dynamics. It is good for simulating ground vehicles, legged creatures, and moving objects in VR environments. In recent research, we have carried out some simulations using ODE to perform locomotion for snake-like robots. Five locomotion gaits including linear movement, turning movement, rolling movement, lateral movement and rotating movement have been achieved using the above Central Pattern Generators (CPGs).
At present the activities are extended to enable new research, especially concerning a more intelligent, flexible and interesting four-legged robot, as shown in the following figure. We also call it an H-structure. Actually, it consists of five chains, each of which has three cross-connected modules. The robot can imitate a dog's movement in direction 1. When moving in direction 2, the robot will move like reptile behaviors. This prototype can also be considered as two biped robots in parallel.
The TAMS group offers the above diploma/master project, available to start immediately. (PDF version)
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| ODE software | Four-legged modular robot |
- Investigating the locomotion principles of the H-structure;
- Investigating and comparing the locomotion with that of real natural creatures;
- Realizing a simulator using ODE.
- Interested in modular robotic systems and ODE software;
- Basic knowledge of robotics;
- C, C++;
- Working knowledge of English.
- Houxiang Zhang, Room F-307, Pho.: 42883-2565
- Prof. Dr. Jianwei Zhang, Room F-308, Pho.: 42883-2431
- Modular robot. (More details)
- ODE. (LINK)
- GZ-I MODULAR ROBOT PROJECT. (LINK)
- Demonstration. (Modular Snake and 3-legs Robot)
