This paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion.
A new modular robot is presented 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. A control software called Bluemove was developed and implemented that allows easy testing of the capabilities for locomotion of a large variety of robot configurations.
With the help of the control software called Bluemove, different configurations of the YaMoR modules were tested like a wheel, caterpillar or configurations with limbs and their capabilities for locomotion.
This paper demonstrates that modular robots can act as a powerful framework for exploring locomotion of a large variety of different types of robots. Although present research is limited to exploring locomotion, YaMoR modules are designed to be general purpose and support a variety of applications.
Moeckel, R., Jaquier, C., Drapel, K., Dittrich, E., Upegui, A. and Jan Ijspeert, A. (2006), "Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface", Industrial Robot, Vol. 33 No. 4, pp. 285-290. https://doi.org/10.1108/01439910610667908Download as .RIS
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