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Snake
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This is essentially the same as the snake configuration that was
demonstrated for G1. It is a single chain of modules where
the axis of each alternates between vertical and horizontal. This
allows forward motion through propogating a wave along the snake's
length; as well as turning though setting the angle of those modules
with verticle axes.
(click for video)(2M mpeg)
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Loop
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In this demonstration, a single chain of modules from a snake was joined
end-to-end to form a single loop or rolling track. When the loop is
resting on one edge (the modules are wide enough that this is a stable
state) then it can locomote by rolling itself along.
(click for video)(2M mpeg)
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Spider
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As with the G1 demonstration, the spider is formed through four
chains each connecting at a central node (a special six-sided passive
module). Unfortunately the weight/power ratio for these modules meant
that a spider of this size was not quite capable of standing or walking
un-assisted. This should be rectified in G3.
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Self reconfiguration
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In this demo G2 PolyBot
reconfigured itself from a loop to snake to spider (the three configurations
shown above). Docking with some manual assist is editted out. Automatic docking is shown below.
(click for video)(2M mpeg)
(paper on reconfiguration)
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Fully automatic docking
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Here for the first
time is the G2 modules docking and undocking
fully autonomously. Guidance is aided by a light intensity based
measurements. Shape Memory Alloys latch and unlatch the modules.
(click for video) (1.6M mpeg)
(paper on docking)
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Deployable video camera
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This image shows the snake carrying a selfpowered wireless video
camera. This can provide information to a user who is controling the robot
remotely. PolyBot is also capable of detatching and
deploying the camera - ideal for reconnaissance of denied areas.
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Obstacle course
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For one of the annual demonstrations to our funding organisation, we
were required to attempt to traverse an obstacle course using the G2
snake. This obstacle course included: ramps, steps, pipes and chicken wire!
(click for video)(3.6M mpeg)
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