robots libres e imprimibles
TRANSCRIPT
Robots Libres e Imprimibles
Juan Gonzlez-Gmez y Alberto Valero Gmez,
Robotics Lab
Universidad Carlos III de Madrid
Open Source Hardware Convention 23-25 Septiembre 2011. Madrid
Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots
ndice
Introduccin
Miniskybot
Robots derivados
Plastic Valley UC3M!
Conclusiones y trabajos futuros
Robots libres e imprimibles
Open Source Hardware Convention 2011
This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
Modelo Open source
El modelo open source funciona
Modelo distribuido, con alcance mundial
Miles de personas cooperando
Aparicin de comunidades
Herramientas: repositorios, wikis,...
Patrimonio tecnolgico de la humanidad
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Robtica Libre (I)
Robots desarrollados por la comunidad
Compartidos por Internet
Robots que evolucionan
Emergencia de diseos asombrosos!
Por qu no aplicar este modelo a la robtica?
Ventajas:
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Robtica Libre (II)
Los robots son objetos fsicos y no bits como el software
Se necesita tiempo y dinero para duplicar un objeto fsico
Cmo lo aplicamos?
Problemas:
Enfoque:
Internet
Planos(Bits)
Planos(Bits)
Compartir
Fabricar
Objeto fsico
Convertir a bits
Objeto fsico
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Robtica Libre (III)
Software
Mecnica
Planosmeanicos
Electrnica
Planos elctricos
void timer0_delay(unsigned char t0ini){ //-- Dar valor inicial del timer TMR0=t0ini; //-- Flag de interrupcion a cero T0IF=0; //-- Esperar a que transcurra el tiempo indicado while(T0IF==0);
Programa
Robot fsico
Robot Libre
Robot Libre: Aplicamos las 4 libertades software libre a los planos del robot: Mecnica, electrnica y software
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Robtica Libre (IV)
Robot Libre: Son necesarios los ficheros fuente de los planos
Software
Tool chains
void timer0_delay(unsigned char t0ini){ //-- Dar valor inicial del timer TMR0=t0ini; //-- Flag de interrupcion a cero T0IF=0; //-- Esperar a que transcurra el tiempo indicado while(T0IF==0);
Robot fsico
Robot Libre
Herramientasgeneradoras
EDA
CAD
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Herramientas generadoras (I)
Las herramientas generadoras imponen restricciones a la comparticin!
Pago de licencias
Gratis, pero...Funcionalidad limitada
Restricciones en el uso
Restricciones en el Sistema Operativo
Planos en formatos propietarios
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Hardware libre
2
Panos libres
Software propietario
Panos libres
Software Libre
El hardware libre lo podemos clasificar en:
Hardware libre
Hardware libre
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Fabricacin con impresoras 3D open source
Impresora 3D: Dispositivo que construye objetos fsicos a partir de bits
Coste:Propietarias: 12.000 - 60.000
Open source: 350 - 2.000
Material: Plstico: ABS(26/kg), PLA(29/kg)
Objeto fsico
Bits
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Impresoras 3D Open source
Reprap project: Mquina auto-replicante (2005)
Thingiverse: Sitio para compartir objetos fsicos (2009)
Makerbot: Comercializan impresoras 3D open-source (2009)
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Robots para educacin
Libres
Nuestros robots tienen las siguientes caractersticas:
Imprimibles
Herramientas libres
2
Diseo disponible para que cualquiera lo pueda usar, estudiar, modificar, distribuir, fabricar o vender
Se pueden fabricar utilizando una impresora 3D open-source
Se ha diseado exclusivamente utilizando herramientas libres. Esto garantiza que no hay restricciones en su modificacin, comparticin o fabricacin.
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
ndice
Introduccin
Miniskybot
Robots derivados
Plastic Valley UC3M!
Conclusiones y trabajos futuros
Robots libres e imprimibles
Open Source Hardware Convention 2011
This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
Robots previos: Skybot
Robot libre (NO imprimible)
Creado en 2005
Piezas cortadas por lser
Microcontrolador: PIC16F876A
Los estudiantes NO han evolucionado la mecnica
http://goo.gl/cOVYx
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Miniskybot 0.1: hola mundo
Aprender impresin 3D
Viabilidad de robots imprimibles
Chsis mnimo para estimular a los estudiantes
Que comience la evolucin!
http://www.thingiverse.com/thing:4954
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Miniskybot 1.0
Robot diferencial con rueda loca
Robot completo: chsis + electrnica + pilas + sensores
Los estudiantes lo pueden modificar fcilmente
http://www.thingiverse.com/thing:7989
Video 1
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Mecnica
9 piezas imprimibles
Tornillos/tuercas M3
Neumticos con juntas tricas
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Mecnica: Herramientas Libres de diseo
Las piezas son cdigo que al compilarse genera las piezas grficas
OpenScad
module U_front_skycube() {difference() {union() {//-- Main part: U-pieceFutaba_U_union2(bottom_thick=bottom_thick,h=h);//-- Ear 1translate([d1_x,0,0])cube(size=[ear_x-0.01,ear_y,bottom_thick], center=true);//-- Ear 2
FreeCad
Para visualizar el robot con todas las piezas ensambladas
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Diseo paramtrico
Las piezas son paramtricas. Simplemente cambiando parmetros en el cdigo se obtienen piezas diferentes
Ejemplos:
Portapilas:
Tipo de pila
Nmero de pilas
Ruedas:
Dimetro
Grosor
...
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Electrnica (I)
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Electrnica (II)
Tarjeta Skycube
Diseada con: KICAD
KICAD es software libre
http://goo.gl/HAk5W
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Construyendo el Miniskybot
Tiempo de impresin: 3h
Piezas imprimibles
Material no imprimible
A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves.The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
Coste