Torque-based Control of the robot
This video presents a generalizable, low computational cost, simple, and fast method of gravity compensation for climbing robots with a variable number of legs. It is based on the static problem, which is a reduction of the dynamic model of the robot that takes advantage of the low velocity of climbing robots. To solve it, we propose a method that computes the torque that each actuator has to apply to compensate gravitational forces without the use of the Jacobian matrix for the forces exerted by the end-effector and without the use of analytical methods for the gravitational components of the model.
Simulation of Suction Cups
Check the correct functioning of the suction cups and their grip force in a configuration of 6 modules and a body.
Once the correct activation of the suction cups at rest has been verified, the suction is tested in all directions, that is, cases in which the robot must rest on a sloping surface, a wall or a ceiling.
After the mechatronic design stage, the final assembly of ROMERIN+ was carried out, including the battery and the electronic board to each of the modules that compose it. The video shows one of these modules making random movements to check how it works.
Verification of the functioning of the servo motors corresponding to the shoulder and elbow joints by means of a software control. This check is carried out by the student Daniel Brito Hernández.
Different movements of ROMHEX (VREP)
VREP simulation of the hexapodal prototype, ROMHEX. The robot shows its skills moving its center of gravity (CG) to different positions and orientations. Later it is shown how it is able to walk forward during rotating with all the available legs and with the malfunction of two of them.
Motion simulation VREP
VREP simulation of the hexapodal prototype, ROMERIN. The behavior of the suction cups and sensors, both the contact ones located in the legs and the depth sensor (Intel Euclid) has been emulated.
After the mechatronic design stage and the subsequent checks, the final assembly of ROMERIN was carried out. The video shows the first test performed to validate the correct functioning of each part of the robot.
Checking how the model manages to move some distance but needed an improvement in the dynamics to make it functional.
Vertical Clamping in Glass
Tests related to the operation of the main attribute of ROMERIN, the clamping provided by suction cups. In this case, the video shows the suction performed in a vertical plane composed of a sliding material such as glass.
Vertical Clamping on Rough Wall
Tests related to the clamping provided by the suction cups. In this case, the video shows the suction performed in a vertical plane composed of a non-regular material such as gotelé.
Horizontal Clamping in Cardboard
Tests related to the operation of suction cups in a horizontal plane. The behavior of ROMERIN before physical disturbances is also shown, performing a stability test by the student Daniel Brito Hernández.