TY - GEN
T1 - Development the electronic system of continues modular snake-like-robot
AU - Gómez, Daniel Armando
AU - Vera, Javier Camilo Torres
AU - León-Rodríguez, Hernando
N1 - Publisher Copyright:
© CLAWAR Association.
PY - 2019
Y1 - 2019
N2 - This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module. These cards are composed of a DSPic30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports; as well as a socket to connect to an external device through the UART. The firmware has been written in MikroC Pro. Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement. These moves were simulated using ROS (Robotic Operating System in Rviz).
AB - This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module. These cards are composed of a DSPic30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports; as well as a socket to connect to an external device through the UART. The firmware has been written in MikroC Pro. Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement. These moves were simulated using ROS (Robotic Operating System in Rviz).
UR - http://www.scopus.com/inward/record.url?scp=85071746181&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85071746181
T3 - Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018
SP - 113
EP - 120
BT - Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018
A2 - Sanchez, Victor
A2 - Tokhi, Mohammad Osman
A2 - Fernandez, Roemi
A2 - Gonzalez de Santos, Pablo
A2 - Montes, Hector
A2 - Silva, Manuel F.
A2 - Rodriguez, Humberto
A2 - Virk, Gurvinder S.
A2 - Armada, Manuel
PB - CLAWAR Association Ltd, UK
T2 - Robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018
Y2 - 10 September 2018 through 12 September 2018
ER -