1. Toward the Sense of Touch in Snake Modular
Robots for Search and Rescue Operations
Juan González-Gómez, Javier Gonzalez-Quijano,
Houxiang Zhang, Mohamed Abderrahim
Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots
Robotics Lab
Universidad Carlos III de Madrid
Madrid (Spain)
TAMS group
University of Hamburg
Hamburg (Germany)
Dr. Juan González-Gómez. Workshop on Modular Robots. ICRA. May-3th-2010

2. Outline Sense of touch Mechanics Experiments Conclusions Introduction
This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
A New Application of Modular Robot on Analysis of Caterpillar-like Locomotion

3. Urban Search and Rescue Operations (I)
1.- Introduction
Urban Search and Rescue Operations (I)
Environment:
Unstructured terrain
Chaotic
Pieces of rumble
Priority: to find survivals quickly
Robot properties:
Versatility
Flexibility
Adaptability
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

4. Urban Search and Rescue Operations (II)
1.- Introduction
Urban Search and Rescue Operations (II)
Snakes modular robots are very good candidates for search and rescue operations
Small section
Flexible body
Modular
Robustness
Versatile
Low cost
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

5. Urban Search and Rescue Operations (III)
1.- Introduction
Urban Search and Rescue Operations (III)
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Capabilities needed (at least): Locomotion, climbing and grasping
Toward the sense of touch in Snake modular robots for search and rescue operations

6. Touch rings Discrete touch rings vs continuous artificial skin
2.- Sense of touch
Touch rings
Discrete touch rings vs continuous artificial skin
Easier to adapt to the different snake prototypes
Distance d can be changed according to the requirements
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

7. Touch strips Flexible capacitive strip Consist of three layers
2.- Sense of touch
Touch strips
Flexible capacitive strip
Consist of three layers
Electrodes in a flexible PCB layer
The strip is bended to form a touch ring
It fits snake robots with different cross section (circular, squared...)
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

8. Modules Y1 modules family Cube-M family Joined together by screws
3.- Mechanics
Modules
Y1 modules family
Cube-M family
Joined together by screws
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

9. Modular snakes prototypes
3.- Mechanics
Modular snakes prototypes
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

10. Touch strip experiments (I)
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Very early experiments
Pith-pitch minimum modular robot
Only the first touch strip layer
Only three electrodes
Toward the sense of touch in Snake modular robots for search and rescue operations

11. Touch strip experiments (II)
First tests carried out with Freescale standard electrodes
Substituted by our touch strip
Freescale software is used to display the measures
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Toward the sense of touch in Snake modular robots for search and rescue operations

12. Modular grasping simulation
4.- Experiments
Modular grasping simulation
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Grasping of a cylinder using the OpenRave Modular robot Plug-in (developed by ourselves)
Toward the sense of touch in Snake modular robots for search and rescue operations

13. Conclusions ...But still a lot of research have to be done
Modular Snake robots are good candidates for being used in USAR Operations
At least, locomotion, climbing and grasping capabilities are needed
The sense of touch is key to achieving these capabilities
Our idea is to use touch rings and touch strips
The early experiments are promising....
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains.
As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.
The higher level involves the perception of the environment, planning trajectories, navigation and making decisions.
The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
...But still a lot of research have to be done
Toward the sense of touch in Snake modular robots for search and rescue operations

14. Towards the Sense of Touch in Snake Modular
Robots for Search and Rescue Operations
Juan González-Gómez, Javier Gonzalez-Quijano,
Houxiang Zhang, Mohamed Abderrahim
Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots
Robotics Lab
Universidad Carlos III de Madrid
Madrid (Spain)
TAMS group
University of Hamburg
Hamburg (Germany)
Dr. Juan González-Gómez. Workshop on Modular Robots. ICRA. May-3th-2010