Snapbot V2: A reconfigurable legged robot with a camera for self configuration recognition

Kevin G. Gim, Joohyung Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present the second version of a reconfigurable modular legged robot, Snapbot V2. The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation model and implemented on a physical robot as well. A visual detection is implemented with a camera module to recognize the robot's configuration. By detecting the particular color of the parts at the leg module, the robot can recognize the number and location of the connected legs. Based on the recognized configuration, Snapbot V2 selects the proper locomotion style automatically.

Original languageEnglish (US)
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4026-4031
Number of pages6
ISBN (Electronic)9781728162126
DOIs
StatePublished - Oct 24 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: Oct 24 2020Jan 24 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period10/24/201/24/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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