Modular robot based on 3 rotational DoF modules

Yerpes, Ariadna and Baca Garcia, Jose Antonio and Escalera Piña, Juan Antonio and Ferre Pérez, Manuel and Aracil Santonja, Rafael (2008). Modular robot based on 3 rotational DoF modules. In: "IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.", 22/09/2008-26/09/2008, Niza, Francia. ISBN 978-1-4244-2057-5.

Description

Title: Modular robot based on 3 rotational DoF modules
Author/s:
  • Yerpes, Ariadna
  • Baca Garcia, Jose Antonio
  • Escalera Piña, Juan Antonio
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
Event Dates: 22/09/2008-26/09/2008
Event Location: Niza, Francia
Title of Book: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008
Date: 2008
ISBN: 978-1-4244-2057-5
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

this paper shows the advantages of having a modular system with 3-DoF spherical actuator in the base module to perform tasks that require displacement and object manipulation. Having 3-DoF actuator improves the complexity of coordination patterns and control algorithms of the modular system more relevantly as compared to having only 1 or 2DoF actuator in the module. Nevertheless, modules with actuators of only 1 or 2DoF require more modules to be assembled together in order to achieve complex tasks. Experiments performed with RobMAT modular system proves that a 3DoF actuator in the module is better, because tasks such as displacement, obstacle climbing and object manipulation, can be efficiently carried out with systems of 2 modules, 4 modules and 6 (maximum) modules connected together.

More information

Item ID: 4038
DC Identifier: http://oa.upm.es/4038/
OAI Identifier: oai:oa.upm.es:4038
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4650942
Deposited by: Memoria Investigacion
Deposited on: 06 Sep 2010 09:35
Last Modified: 22 Feb 2017 18:14
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