Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface

Rico Moeckel (School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)
Cyril Jaquier (School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)
Kevin Drapel (School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)
Elmar Dittrich (School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)
Andres Upegui (School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)
Auke Jan Ijspeert (School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)

Industrial Robot

ISSN: 0143-991x

Publication date: 1 July 2006

Abstract

Purpose

This paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion.

Design/methodology/approach

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.

Findings

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.

Originality/value

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.

Keywords

Citation

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/10.1108/01439910610667908

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Publisher

:

Emerald Group Publishing Limited

Copyright © 2006, Emerald Group Publishing Limited

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