1. A New Application of Modular Robots on Analysis of Caterpillar-like Locomotion Houxiang Zhang, Juan González-Gómez, Jianwei Zhang Ph.D. Juan González-Gómez. IEEE International Conference on Mechatronics. Málaga. April-17th-2009 Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg School of Engineering Universidad Autonoma de Madrid

2. 2 Outline A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion 1. Introduction 2. Kinematics 3. Locomotion 4. Experiments 5. Conclusions and future work Outline

3. 3 Modular robots overview (I) 1.- Introduction Polybot Yim et al. PARC Modsnake Wright et al. M-TRAN Murata et al. AIST SuperBot Shen et al. ISI ● Composed of equal modules ● Modules as building bricks ● Self-reconfigurable ● Shape adapted to the terrain A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

4. 4 Modular robots overview (II) 1.- Introduction Yamor Moeckel et al. EPFL Cube Revolutions, Hypercube Gonzalez-Gomez et al. UAM Cube-M Zhang et al. TAMS ● Very few groups in Europe working on modular robotics Applications of modular robots: ● Space exploration ● Urban search and rescue ● Educational purposes ● Bioinspire research A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

5. 5 Locomotion of caterpillars 2.- Kinematics Inchworm Manduca sexta larvae Adhesion module Joint module A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

6. 6 Manduca sexta larvae 2.- Kinematics ● Body modeled as a chain of three Cube-M modules: Cube-M A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

7. 7 Locomotion algorithm (I) 3.- Locomotion CP G ● Central pattern generators (CPGs) ● Each CPG controls a group of muscles In Nature Our model ● Sinusoidal generators ● One generator for each module ● The bending angle is controlled A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

8. 8 3.- Locomotion Locomotion algorithm (II) ● The same amplitude A for all the modules ● The same phase difference ● The same period T ● Control space of two variables: ● Exploration of the best working point for locomotion ● Step, Power and Ratio as a function of Step Power Ratio A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

9. 9 4.- Experiments The Cube-M modular robot A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion Video

10. 10 Experiments (I): Step 4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

11. 11 Experiments (II): Step 4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

12. 12 Experiments (III): Power 4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

13. 13 Experiments (IV): Power 4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

14. 14 Experiments (V): Ratio 4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

15. 15 Experiments (VI): Ratio Working point A=40 Phase diff=125 4.- Experiments A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

16. 16 Conclusions and future work 5.- Conclusion and future work ● Investigation of caterpillar-like locomotion using our cost-efficient and robust modular robot Cube-M ● The experiments show that when the phase difference is around 125 degrees the movement is smooth, fastest and power consumption is lowest ● Further experiments and simulations ● Addition of sensors on the module to get more moving information ● Application to the design on climbing caterpillars A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

17. A New Application of Modular Robots on Analysis of Caterpillar-like Locomotion Houxiang Zhang, Juan González-Gómez, Jianwei Zhang Ph.D. Juan González-Gómez. IEEE International Conference on Mechatronics. Málaga. April-17th-2009 Faculty of Mathematics, Informatics and Natural Sciences University of Hamburg School of Engineering Universidad Autonoma de Madrid