Simulation of a Quadrupedal Bioinspired Modular Robot Using Webots
| Autor: | Vanessa Cruz Carbonell, Ricardo Andrés Castillo Estepa |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Self-reconfiguring modular robot
business.industry Computer science Mechanical Engineering General Chemical Engineering Process (computing) Mobile robot Modular design Translation (geometry) Column (database) Modeling and Simulation Robot Electrical and Electronic Engineering business Rotation (mathematics) Simulation ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | International Review on Modelling and Simulations (IREMOS). 12:94 |
| ISSN: | 2533-1701 1974-9821 |
| DOI: | 10.15866/iremos.v12i2.16349 |
| Popis: | This paper describes the algorithm creation process of a salamander-based locomotion in a modular robotic system (Mecabot). The morphology of the Mecabot robot allows translation and turning movements with active column: each column link synchronously moves with the legs, giving an additional DOF. The active column execution is based on the salamander movement. The rotation needs another program perspective, the column is immobilized and only the legs work. The robot is tested in the simulation environment Webots under ideal conditions, it is considered rigid and his mass center is supposed to be in the middle of the column. The simulations allow testing different coordination schemes and to observe an approximate behavior in three different types of movement: translation, turning and rotation. With the simulation it is determined which of one those three kinds of locomotion could program with active column and which one could not. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|