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Toward the Sense of Touch in Snake Modular
Robots for Search and Rescue Operations
Juan Gonzlez-Gmez, Javier Gonzalez-Quijano,
Houxiang Zhang, Mohamed Abderrahim
Dr. Juan Gonzlez-Gmez. Workshop on Modular Robots. ICRA.
May-3th-2010
TAMS groupUniversity of HamburgHamburg (Germany)
Robotics LabUniversidad Carlos III de Madrid
Madrid (Spain)
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Outline
A New Application of Modular Robot on Analysis of
Caterpillar-like Locomotion
1. Introduction
2. Sense of touch
3. Mechanics
4. Experiments
5. Conclusions
Outline
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Urban Search and Rescue Operations (I)
1.- Introduction
Environment:
Unstructured terrain
Chaotic
Pieces of rumble
Priority: to find survivals quickly
Robot properties:
Versatility
Flexibility Adaptability
Toward the sense of touch in Snake modular robots for search and
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Urban Search and Rescue Operations (II)
1.- Introduction
Snakes modular robots are verygood candidates for search
andrescue operations
Small section
Flexible body
Modular
Robustness
Versatile
Low cost
Toward the sense of touch in Snake modular robots for search and
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Urban Search and Rescue Operations (III)
1.- Introduction
Capabilities needed (at least): Locomotion, climbing
andgrasping
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Touch rings
2.- Sense of touch
Toward the sense of touch in Snake modular robots for search and
rescue operations
Discrete touch rings vs continuous artificial skin
Easier to adapt to the different snake prototypes
Distance d can be changed according to the requirements
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Touch strips
2.- Sense of touch
Toward the sense of touch in Snake modular robots for search and
rescue operations
Flexible capacitive strip
Consist of three layers
Electrodes in a flexiblePCB layer
The strip is bended toform a touch ring
It fits snake robots withdifferent cross section(circular,
squared...)
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Modules
3.- Mechanics
Toward the sense of touch in Snake modular robots for search and
rescue operations
Y1 modules family
Cube-M family
Joined together by screws
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Modular snakes prototypes
3.- Mechanics
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Touch strip experiments (I)
4.- Experiments
Toward the sense of touch in Snake modular robots for search and
rescue operations
Only the first touch strip layer
Only three electrodes
Very early experiments
Pith-pitch minimum modularrobot
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Touch strip experiments (II)
4.- Experiments
Toward the sense of touch in Snake modular robots for search and
rescue operations
First tests carried out with Freescale standard electrodes
Substituted by our touch strip
Freescale software is used to display the measures
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Modular grasping simulation
4.- Experiments
Toward the sense of touch in Snake modular robots for search and
rescue operations
Grasping of a cylinder using the OpenRave Modular robot
Plug-in(developed by ourselves)
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Conclusions
6.- Conclusions
Toward the sense of touch in Snake modular robots for search and
rescue operations
Modular Snake robots are good candidates for being used in
USAROperations
At least, locomotion, climbing and grasping capabilities are
needed
The sense of touch is key to achieving these capabilities
Our idea is to use touch rings and touch strips
The early experiments are promising....
...But still a lot of research have to be done
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Towards the Sense of Touch in Snake Modular
Robots for Search and Rescue Operations
Juan Gonzlez-Gmez, Javier Gonzalez-Quijano,Houxiang Zhang,
Mohamed Abderrahim
Dr. Juan Gonzlez-Gmez. Workshop on Modular Robots. ICRA.
May-3th-2010
TAMS groupUniversity of HamburgHamburg (Germany)
Robotics LabUniversidad Carlos III de Madrid
Madrid (Spain)
