Biorobotics Laboratory BioRob

Optimal hybrid gaits for several morphologies

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This video shows the results of using the hybrid framework of controller-optimizer for several different modular robot shapes built by Roombots. The main idea of using such a generic framework is to enable the robot to use different combination of movement patterns including Oscillation, Rotation and Locking modes in order to find more diverse space of possible locomotion patterns. This helps us to decrease the required time for finding locomotion abilities of a new modular robot shape and also find some solutions that are not intuitive and easy-to-imagine. Since the hybrid framework includes all the movement patterns, it can generate also the solutions with using only-oscillation or only-rotation in addition to the combination of them. This movie shows some of these results including oscillatory, rotational and hybrid solutions.