Simulation of modular robotic system MECABOT in caterpillar and snake configurations using Webots software

Lancheros, Paola; Sanabria, Laura; Estepa, Ricardo Andrés Castillo

doi:10.1109/ccra.2016.7811417

Cited by 3 publications

(2 citation statements)

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“…The robot's hexapod configuration has already been tested on unstructured terrain and other topologies, while the quadruped and biped configurations (i.e. with legs) are currently under investigation [18][19][20]. This paper reports on the results of comprehensive simulations and mathematical analyses.…”

Section: Investigation Projectmentioning

confidence: 99%

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Assembly and implementation of modular quadrupedal architecture

Cruz-Carbonell¹,

Castillo-Estepa²

2019

Vis. Electron.

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This paper describes the assembling process of a quadrupedal architecture using the modular robotic system Mecabot. Several possible topologies are addressed to finally opt for a design that allows the use of an active column. Based on this, the mathematical model of the control is proposed to perform the movements of displacement, open turn and rotation. The locomotion profiles for these first two movement modalities are bio-inspired. For the rotation modality, a characteristic quadrupedal robot transition is used to allow the correct rotation execution without using a great number of degrees of freedom. The robot is tested on structured and unstructured terrains by measuring its speed in function of the movement frequency variation. For the open turn modality, the described circumference radius is measured in function of the offset variation. With the tests, the second Mecabot configuration with legs is finally obtained complementing the research work carried out for apodal configurations (snake, wheel caterpillar) and hexapod.

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Section: Investigation Projectmentioning

confidence: 99%

“…Moreover, the CPGs provide a smoother, more harmonious response than traditional methods. However, they involve a high computational cost, while their directly bioinspired mechanisms tend to be redundant [18,25,26].…”

Section: Simple Displacement Control Mechanismmentioning

confidence: 99%