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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.
Title: | Modular robot based on 3 rotational DoF modules |
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Author/s: |
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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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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.
Item ID: | 4038 |
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DC Identifier: | https://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 |