YaMoR and Bluemove — An Autonomous Modular Robot with Bluetooth Interface for Exploring Adaptive Locomotion

Abstract

Modular robots offer a robust and flexible framework for exploring adaptive locomotion control. They allow assembling robots of different types e.g. snakelike robots, robots with limbs, and many other different shapes. In this paper we present a new cheap modular robot called YaMoR (for "Yet another Modular Robot"). Each YaMoR module contains an FPGA and a microcontroller supporting a wide range of control strategies and high computational power. The Bluetooth interface included in each YaMoR module allows wireless communication between the modules and controlling the robot from a PC. With the help of our control software called Bluemove, we tested different configurations of our YaMoR robots like a wheel, caterpillar or configurations with limbs and their capabilities for locomotion.

HyperNEAT Versus RL PoWER for Online Gait Learning in Modular Robots

“…These tests are done in simulation using the Webots symulator by Cyberbotics. We use the same adapted YaMoR module [15] as the building blocks for the organisms. The environment for the experiments is an infinite plane, free of obstacles to avoid any extra complexity and the need for supervision.…”

ModLock: A manual connector for reconfigurable modular robots

“…Yamor [8] uses Velcro TM for an instantaneous connection like magnets, but has the added benefit of no restriction on orientation with which the faces can be connected. It is however a relatively weak bond for modular robot applications.…”

Peltier-Based Freeze-Thaw Connector for Waterborne Self-Assembly Systems

“…Furthermore, it is a difficult engineering task to build and actuate small and robust mechanical systems. Velcro has the advantage that the connection mechanism itself does not have to be actuated (Shimizu et al 2005;Moeckel et al 2005). A repelling force has to be provided only for the detachment (through an actuator).…”