| Tricycle Riding |
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G1v4 modules are arranged to pedal on a tricycle. This was relatively easy to construct and program. It makes a good argument for the ability of this type of system using tools made for humans.
(click for video)(300k mpeg)
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| Conforming Loop |
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Force sensors have been added to every module so that the system can detect the shape of the terrain as it travels over it. The system actively conforms to the terrain to enable it to climb over objects in a robust fashion.
(click for video)(1.9M mpeg)
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| Fence Climbing |
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In this demo, plastic hooks have been added as passive modules. The robot climbs up a chain link fence, deploys a remote video camera at the top and climbs back down the fence. The self-powered video camera has magnets to attach to the fence.
(click for video)(1.7M mpeg)
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| Stair Climbing |
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Climbing stairs with small robots is very challenging. Snake like robots have difficulty in part because the torque required to lift the head up the stairs is large. A loop which conforms to the stairs "rolls" up the stairs. The closed chain alleviates torque problems.
(click for video)(2.3M mpeg)(paper on climbing)
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| Pole Climbing |
![pole climbing]() |
Coming soon!
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| Tree Climbing |
![climbing a tree]() |
Coming soon!
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| Porous Material Climbing |
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This gait is modelled after the way a caterpillar climbs where a feet transition up the body like a wave. Spikes are added to the bottom of the robot to stick into holes in the "egg crate" grating. By sharpening the spikes we should be able to climb porous materials like soft woods in a similar manner.
(click for video)(1.7M mpeg)(paper on climbing)
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| Navigation |
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The modules are arranged in a caterpillar formation with plastic feet added and a cube "head" which is used to mount a wireless computer link as well as to aid in some obstacle climbing. A sick laser scanner is used to scan the environment and the robot. The motion and path of the robot is planned automatically to traverse and unstructured environment. The program is capable of switching between modes of locomotion depending on the terrain.
(click for video)(2.6M mpeg))(paper on path planning)
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| Loop Gait Battery Test |
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This our first test to determine our power limitations. A 10 module loop was constucted and the loop gait was used since it is the most efficient. At this time we were using standard off the shelf AAA NiMH batteries. On a single charge the system travelled about 0.5 kilometers and ran for 45 minutes. We expect that the
newer system with prismatic NiMH batteries may travel further and longer.
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| Lizard Gait |
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This minimal module configuration uses only 5 modules as well as plastic
passive pieces for feet. The center module swings back and forth like
the spine of a lizard as the legs lift up and down at appropriate times
to move forward, backward or turn.(click for video)(3Mb MOV file)
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