Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface

Author： Moeckel Rico Jaquier Cyril Drapel Kevin Dittrich Elmar Upegui Andres Ijspeert Auke Jan

ISSN： 0143-991X

Source： Industrial Robot: An International Journal, Vol.33, Iss.4, 2006-07, pp. : 285-290

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Abstract

Purpose - This paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion. Design/methodology/approach - A new modular robot is presented called YaMoR (for "Yet another Modular Robot"). Each YaMoR module contains an FPGA and a microcontroller supporting a wide range of control strategies and high computational power. The Bluetooth interface included in each YaMoR module allows wireless communication between the modules and controlling the robot from a PC. A control software called Bluemove was developed and implemented that allows easy testing of the capabilities for locomotion of a large variety of robot configurations. Findings - With the help of the control software called Bluemove, different configurations of the YaMoR modules were tested like a wheel, caterpillar or configurations with limbs and their capabilities for locomotion. Originality/value - This paper demonstrates that modular robots can act as a powerful framework for exploring locomotion of a large variety of different types of robots. Although present research is limited to exploring locomotion, YaMoR modules are designed to be general purpose and support a variety of applications.