Biorobotics Laboratory BioRob

Print

Locomotion through reconfiguration - Sequence F

Unfortunately this movie is not yet available in a format compatible with recent browsers, and Flash Player is not available or is disabled.. You can try enabling Flash Player in your browser, or as an alternative, you can download the movie (see below) for local viewing with your favorite video player.

Download

Description

This video show locomotion through connection and disconnection on a flat surface, for a single Roombots (RB) module. It locomotes from its initial position (I) to its goal position (F) using a sequence of motor primitives (MP). An RB module is equipped with two active connection mechanism (ACM), they are integrated into its hemispheres (H0 in ACM0 and H3 ACM3).

A single RB "step" consists of the following sub-moves:
1) The RB module swivels its "foot" joint until it is parallel on the ground
2) Connection and disconnection sequence: the non-connected ACM becomes connected to the ground, and the connected ACM becomes disconnected.
3) The RB module swivels its orientation upwards into the vertical: the two outer RB hemisphere become switched.