Modular robotics hardware

We recently started developing prototypes for modular robot units called YaMoR (for Yet another Modular Robot). The aim of the project is to create robot units that can rapidly be attached to each other in order to create arbitrary multi-unit robot structures. We are interested in developing adaptive algorithms that use local interactions rules between units in order to optimize the global behavior of the multi-unit structure.

The units have the following characteristics: (1) each unit is autonomous in terms of power, sensing, actuation, and computing, (2) they are driven by heavy-duty servos such that one unit can lift up to 3 others, (3) they communicate via BlueTooth (i.e. no need for electrical connections between units), and (4) they are equiped with an FPGA and/or ARM processors for providing flexible computational power.

The unit are designed to be of general-purpose. One particular control scheme we are interested in is to control the locomotion of the units by systems of coupled nonlinear oscillators. See the Modular robotics adaptive locomotion page.

People involved: Alexander Sproewitz, André Guignard, André Badertscher, Auke Ijspeert

Sample movies

Dog configuration, four active modules:
Six modules connected into a wheel, three of them are active, pattern are generated by limiting the amplitude of a CPG:
Trebuchet configuration, two legs and a swinging mass for locomotion:
Snake shaped robot, traveling wave from the back for locomotion, eight active and one passive module:

Many more movies can be found on the student pages below.

Movies from Webots simulations

Successive loop and snake reconfiguration of BIRG's YaMoR robot. yamor.mpg (10MB) yamor.wva (View with Webots Player) yamor.wva (Download: 1.4MB) See here for more Webots simulation

Learning to move using central pattern generators and online optimization (Powell's method)

YaMoR snake, at the beginning of the optimization 2.5MB (mpg4) 1.8MB (mpg1)
YaMoR snake, efficient gait 2.2MB (mpg4) 3.0MB (mpg1)

YaMoR tripod, at the beginning of the optimization 2.3MB (mpg4) 3.1MB (mpg1)
YaMoR tripod, two leg front gait 1.8MB (mpg4) 11.6MB (mpg1)

YaMoR quadruped, at the beginning of the optimization 9.5MB (mpg4)
YaMoR quadruped, evolved gait 11.1MB (mpg4)

Related student projects

• Michel Yerly (Master project 2007) YaMoR lifelong learning
• Jérôme Maye (Master Project 2006-2007) Control of Locomotion in Modular Robotics
• Adamo Maddalena (Master project 2005-2006) YaMoR II.
• Jérôme Maye (Semester Project 2005) Bluetooth Configuration of an FPGA: An Application to Modular Robotics
• Kevin Drapel and Cyril Jacquier (Semester Project 2004-2005) Using Bluetooth to Control a YaMoR Modular Robot
• Rico Moeckel (Summer Internship 2004) Design and construction of an autonomous modular robot unit with Bluetooth and FPGA
• Elmar Dittrich (Summer Internship 2004) Modular Robot Unit - Characterisation, Design and Realisation
• Daniel Marbach (Master Thesis 2004-2005) Evolution and Online Optimization of Modular Robot Locomotion
• Yvan Bourquin (Summer Internship 2004) Self-Organization of Locomotion in Modular Robots