YaMoR

Project description

We have designed hardware for modular robot units called Yamor (Yet another Modular Robot). The aim of the project is to create robot units that can rapidly be attached to each other in order to create arbitrary multi-unit robot structures. We are interested in developing adaptive algorithms that use local interactions rules between units in order to optimize the global behavior of the multi-unit structure.

Yamor units have the following characteristics:

  1. each unit is autonomous in terms of power, sensing, actuation, and computing,
  2. they are driven by heavy-duty servos such that one unit can lift up to 3 others,
  3. they communicate via BlueTooth (i.e. no need for electrical connections between units),
  4. they are equiped with an FPGA and/or ARM processors for providing flexible computational power,
  5. they can be attached and detached manually from each other by a screw-and-pin system in multiple ways, which allows us to create different robot configuations.

The unit are designed to be of general-purpose. One particular control scheme we are interested in is to control the locomotion of the units by systems of coupled nonlinear oscillators.

Robot design

YaMoR module unit YaMoR module unit

Student projects adaptive locomotion Yamor

  • ANSYS Fluent Analysis of a flow tank, David Batschelet (Semester project, 2019-2020)
  • Torque control of brushless motor for amphibious robotics, Maxim Bianchini (Semester project, 2019-2020)
  • Traversability pipeline for Krock 2, Thomas Havy (Semester project, 2019-2020)
  • Learning to move around combining reflexes and cpgs for a bio-inspired human model, Julien Couyoupetrou (Semester project, 2019-2020)
  • Design of an aeroponic system with plant growth monitoring for precision farming, Paul Callens (, 2019-2020)
  • Modulation of reflex parameters in human walking, Carla Nannini (Semester project, 2019-2020)
  • Modeling spasticity behavior in human pathological locomotion, Clara Viatte (Semester project, 2019-2020)
  • Building a 3D mouse treadmill for locomotion experiments, Maxime Riou (Semester project, 2019-2020)
  • MOUSE TREADMILL CONTROL, Didier Negretto (Semester project, 2019-2020)
  • Implementation of oscillator models and tools for analyzing coupled oscillators in FARMS, Savyaraj Deshmukh (Semester project, 2019-2020)
  • Design and improvement of the electronics for a hand exoskeleton, Yassine Ahaggach (Semester project, 2019-2020)
  • Firmware and Software Development for a Hand Exoskeleton, Beryl Yersin (Semester project, 2019-2020)
  • SEMG QUANTITATIVE ANALYSIS IN REHABILITATION PATIENTS USING MYO ARMBAND INTERFACE, Emma Bouton-Bessac (Semester project, 2019-2020)
  • SEMG QUANTITATIVE ANALYSIS IN REHABILITATION PATIENTS USING MYO ARMBAND INTERFACE #2, Tiago Cavaleiro Rodrigues (Semester project, 2019-2020)
  • Spinal Cord Maps of Spatiotemporal Alpha-Motoneuron Activation in Neuromechanical Simulations of Human Walking and Comparison wi, Marion Claudet (Internship, 2018-2019)
  • Networking and Data Collection for Amphibious Field Robotics via Robot Operating System (ROS), Adrien Chassignet (Semester project, 2018-2019)
  • Implementation of polynomial muscle joint coupling, Weipeng Li (Semester project, 2018-2019)
  • Sensitivity analysis on reflex parameters of a bio-inspired locomotion controller and mimetism based optimisation, Paul Prevel (Semester project, 2018-2019)
  • Studying the role of different muscle models on the low level control of lower limb, Oleg Gelfort (Semester project, 2018-2019)
  • Development of a passive tail test platform for amphibious robots, Simon Honigmann (Semester project, 2018-2019)
  • Multimodal controller design and characterization using somatosensory feedback for salamander locomotion, Blaise Etter (Semester project, 2018-2019)
  • Closed loop control of a flow tank, Yi-Shiun Wu (Semester project, 2018-2019)
  • Neck modeling to understand the mechanisms underlying posture control and balance, Corentin Puffay (Semester project, 2018-2019)
  • Interactive Console for Robot Control and Monitoring, Julien Lombardo (Semester project, 2018-2019)
  • Optimization of the locomotion of YAMOR structures, Nicolas Comte (Semester project, 2013-2014)
  • Control of Locomotion in Modular Robotics, Jérôme Maye (Master (diploma) project, 2006-2007)
  • YaMoR Lifelong Learning, Michel Yerly (Master (diploma) project, 2006-2007)
  • YaMoR II, Adamo Maddalena (Master (diploma) project, 2005-2006)
  • Bluetooth Configuration of an FPGA: An Application to Modular Robotics), Jérôme Maye (Semester project, 2004-2005)
  • Evolution and Online Optimization of Central Pattern Generators for Modular Robot Locomotion, Daniel Marbach (Master (diploma) project, 2004-2005)
  • Using Bluetooth to Control a YaMoR Modular Robot, Kevin Drapel & Cyril Jaquier (Semester project, 2004-2005)
  • YaMoR Modular Robot, Kevin Drapel & Cyril Jaquier (Semester project, 2004-2005)
  • Design and construction of an autonomous modular robot unit with Bluetooth and FPGA, Rico Möckel (Internship, 2003-2004)
  • Modular Robot Unit - Characterisation, Design and Realisation, Elmar Dittrich (Internship, 2003-2004)
  • Self-Organization of Locomotion in Modular Robots, Yvan Bourquin (Internship, 2003-2004)

Student projects adaptive locomotion

  • ANSYS Fluent Analysis of a flow tank, David Batschelet (Semester project, 2019-2020)
  • Torque control of brushless motor for amphibious robotics, Maxim Bianchini (Semester project, 2019-2020)
  • Traversability pipeline for Krock 2, Thomas Havy (Semester project, 2019-2020)
  • Learning to move around combining reflexes and cpgs for a bio-inspired human model, Julien Couyoupetrou (Semester project, 2019-2020)
  • Design of an aeroponic system with plant growth monitoring for precision farming, Paul Callens (, 2019-2020)
  • Modulation of reflex parameters in human walking, Carla Nannini (Semester project, 2019-2020)
  • Modeling spasticity behavior in human pathological locomotion, Clara Viatte (Semester project, 2019-2020)
  • Building a 3D mouse treadmill for locomotion experiments, Maxime Riou (Semester project, 2019-2020)
  • MOUSE TREADMILL CONTROL, Didier Negretto (Semester project, 2019-2020)
  • Implementation of oscillator models and tools for analyzing coupled oscillators in FARMS, Savyaraj Deshmukh (Semester project, 2019-2020)
  • Design and improvement of the electronics for a hand exoskeleton, Yassine Ahaggach (Semester project, 2019-2020)
  • Firmware and Software Development for a Hand Exoskeleton, Beryl Yersin (Semester project, 2019-2020)
  • SEMG QUANTITATIVE ANALYSIS IN REHABILITATION PATIENTS USING MYO ARMBAND INTERFACE, Emma Bouton-Bessac (Semester project, 2019-2020)
  • SEMG QUANTITATIVE ANALYSIS IN REHABILITATION PATIENTS USING MYO ARMBAND INTERFACE #2, Tiago Cavaleiro Rodrigues (Semester project, 2019-2020)
  • Spinal Cord Maps of Spatiotemporal Alpha-Motoneuron Activation in Neuromechanical Simulations of Human Walking and Comparison wi, Marion Claudet (Internship, 2018-2019)
  • Networking and Data Collection for Amphibious Field Robotics via Robot Operating System (ROS), Adrien Chassignet (Semester project, 2018-2019)
  • Implementation of polynomial muscle joint coupling, Weipeng Li (Semester project, 2018-2019)
  • Sensitivity analysis on reflex parameters of a bio-inspired locomotion controller and mimetism based optimisation, Paul Prevel (Semester project, 2018-2019)
  • Studying the role of different muscle models on the low level control of lower limb, Oleg Gelfort (Semester project, 2018-2019)
  • Development of a passive tail test platform for amphibious robots, Simon Honigmann (Semester project, 2018-2019)
  • Multimodal controller design and characterization using somatosensory feedback for salamander locomotion, Blaise Etter (Semester project, 2018-2019)
  • Closed loop control of a flow tank, Yi-Shiun Wu (Semester project, 2018-2019)
  • Neck modeling to understand the mechanisms underlying posture control and balance, Corentin Puffay (Semester project, 2018-2019)
  • Interactive Console for Robot Control and Monitoring, Julien Lombardo (Semester project, 2018-2019)
  • Optimization of the locomotion of YAMOR structures, Nicolas Comte (Semester project, 2013-2014)
  • Online Optimization for the locomotion of Roombots, The Anh Nguyen (Semester project, 2011-2012)
  • Online adaptation of locomotion control to changes of body structure, Michka Mélo (Semester project, 2010-2011)
  • Co-evolution for Roombots, Ebru Aydin (Master (diploma) project, 2009-2010)
  • YaMoR Lifelong Learning, Michel Yerly (Master (diploma) project, 2006-2007)
  • Evolution and Online Optimization of Central Pattern Generators for Modular Robot Locomotion, Daniel Marbach (Master (diploma) project, 2004-2005)
  • Framework for the Simulations of Modular Robots and Self-Organisation of Locomotion under Water, Barthélémy von Haller (Master (diploma) project, 2004-2005)
  • Using Bluetooth to Control a YaMoR Modular Robot, Kevin Drapel & Cyril Jaquier (Semester project, 2004-2005)
  • Design and construction of an autonomous modular robot unit with Bluetooth and FPGA, Rico Möckel (Internship, 2003-2004)
  • Modular Robot Unit - Characterisation, Design and Realisation, Elmar Dittrich (Internship, 2003-2004)
  • Self-Organisation of Locomotion in Modular Robots, Bertrand Mesot (Master (diploma) project, 2003-2004)
  • Self-Organization of Locomotion in Modular Robots, Yvan Bourquin (Internship, 2003-2004)
  • Adam - A Modular Robot Simulation and Evolution Tool, Daniel Marbach (Semester project, 2002-2003)
  • Synchronization of nonlinear oscillators via Bluetooth, Edouard Goupy & Guillaume Du Pasquier (Semester project, 2002-2003)

People involved

Alexander Sproewitz, Rico Moeckel, André Guignard, André Badertscher, Auke Ijspeert

Acceptorless dehydrogenation and hydrogenation of N- and O-containing compounds on Pd3Au1(111) facets

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Special Section on Energy and Food Security in a Humanitarian Context

 

Sustainable Energy Technologies and Assessments. 2017-08-01. Vol. 22, p. 91-227.

Barriers to the implementation of international agreements on the ground: Climate change and resilience building in the Araucanía Region of Chile

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Fiber-reinforced polymer composite slab with embedded radiant system for building construction

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A new method for river bank detection from Landsat satellite data in the context of the Vietnamese Mekong Delta

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Fast modeling of frontal polymerization

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Effects of a Building Integrated Photovoltaic system on the thermal performances of a ventilated building envelope

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Efficient Proximal Mapping of the 1-path-norm of Shallow Networks

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