2020, Kinetic Intelligent Machine Lab
K. G. Gim and J. Kim, "Snapbot V2: a Reconfigurable Legged Robot with a Camera for Self Configuration Recognition," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, https://ieeexplore.ieee.org/document/9341279
Snapbot V2 is the second version of a reconfigurable modular legged robot. (First version: https://www.youtube.com/watch?v=PpdFCd2KQ8o) The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation model and implemented on a physical robot as well. A visual detection is implemented with a camera module to recognize the robot’s configuration. By detecting the particular color of the parts at the leg module, the robot can recognize the number and location of the connected legs. Based on the recognized configuration, Snapbot V2 selects the proper locomotion style automatically.
Considering the weakness of the previous version, the design goals have been set as follows:
Reliable connection between main body and each leg
Enough torques for fast locomotion
Implementation of basic locomotion skills
Reliable self-configuration recognition
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