Biorobotics Laboratory BioRob

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Neubot Project: Framework for the Simulations of Modular Robots and Self-Organisation of Locomotion under Water


Abstract


The Biologically Inspired Robotics Group (BIRG) of the Swiss Federal Institute of Technology in Lausanne (EPFL) in collaboration with the Automated System Laboratory (ASL) of the EPFL is currently developing new hardware and software for an experimental modular robotic platform. Modular robots are robots built of several building blocks called modules. Usually modules are all similar, but this assertion is not yet true in this new project as the implies: Neubot i.e. Von Neumann Robot. Like the von Neumann automata was made up of 28 differents modules, the Neubot Project plan to develop several types of modules, each with its own abilities and capacities. When several modules are put together, efficient locomotion can be accomplished. This study describes the framework developped to simplify the physics simulations of modular robots, and in a second part this study will explore the self-organisation of underwater locomotion using the Central Pattern Generator (CPG) inspired from the nervous system of vertebrates and the co-evolution of the brain and the body to create entirely new shape adapted to the Neubot modules.

Movies

The videos which follow are encoded in AVI or MPEG4. They are easily viewable with standard softwares. However, on macintosh, QuickTime functions neither for one nor for the other and I advise you to download free software VLC. It is multi-platform and can be used on any operating system if you have problems to view films.

Arrow

This robot has a predefined structure (defined manually) and a controller based on neural networks oscillators coupled using synaptic spreading. Due to the many modules of this robot the simulation cannot display it at real velocity. The speed is divided by two.

Snake

This robot has a predefined structure (defined manually) and a controller based on neural networks oscillators coupled using synaptic spreading. Due to the many modules of this robot the simulation cannot display it at real velocity. The speed of the movie is 3/4 of the real speed.

Tetrapode

This robot has a predefined structure (defined manually) and a controller based on neural networks oscillators coupled using synaptic spreading. The robot in the movie has shorter legs than on the picture because too many modules slow too much the simulation and thus the movie. Here the speed is 1/2 the real one.

Movies of the robots co-evolved

Locomotion of a robot made of 5 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading.

Locomotion of a robot made of 7 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading.

Locomotion of a robot made of 4 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading. He goes straight but to the top.

Locomotion of a robot made of 7 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading.

Locomotion of a robot made of 8 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading. Its velocity is 7.25 m/min.

Locomotion of a robot made of 6 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading. It is able to achieve a velocity of 10.3 m/min.

Locomotion of a robot made of 7 modules. This robot was created using coevolution of body and brain. The controller is a CPG based on neural networks oscillators coupled using synaptic spreading. Its velocity is 9,8 m/min.

Co-evolution with a controller which does not oscillate, but continuously rotate

Locomotion of a robot made of 4 modules. This robot was created using coevolution of body and brain. The controller simply do rotate the motors with a dephasage.