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Latinoware: Robots libres e Imprimibles
- 1. Robots Libres eImprimibles Juan González-Gómez y Alberto Valero Gómez, Robotics Lab Universidad Carlos III de Madrid VIII Conferência Latino-Americana de Software Livre 20 de outubro de 2011 - Foz do Iguaçu | PR | Brasil [email_address]
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- 6. Conclusiones y trabajosfuturos Robots libres e imprimibles Latinoware 2011
- 7. Introducción: Robots librese imprimibles Latinoware 2011 Robótica Libre
- 8. Modelo “Open source”El modelo open source funciona
- 9. Modelo distribuido, conalcance mundial
- 10. Miles de personascooperando
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- 13. Patrimonio tecnológico dela humanidad
- 14. Robótica Libre (I)Robots desarrollados por la comunidad
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- 17. ¡Emergencia de diseñosasombrosos! ¿Por qué no aplicar este modelo a la robótica? Ventajas:
- 18. Robótica Libre (II)Los robots son objetos físicos y no “bits” como el software
- 19. Se necesita tiempo y dinero para duplicar un objeto físico ¿Cómo lo aplicamos? Problemas: Enfoque: Internet Planos (Bits) Planos (Bits) Compartir Fabricar Objeto físico Convertir a bits Objeto físico
- 20. Robótica Libre (III)Software Mecánica Planos mećanicos Electrónica Planos eléctricos Programa Robot físico Robot Libre Robot Libre : Aplicamos las 4 libertades software libre a los planos del robot: Mecánica , electrónica y software void timer0_delay(unsigned char t0ini) { //-- Dar valor inicial del timer TMR0=t0ini; //-- Flag de interrupcion a cero T0IF=0; //-- Esperar a que transcurra el tiempo indicado while(T0IF==0);
- 21. Robótica Libre (IV)Robot Libre : Son necesarios los ficheros “fuente” de los planos Software Tool chains Robot físico Robot Libre Herramientas generadoras EDA CAD void timer0_delay(unsigned char t0ini) { //-- Dar valor inicial del timer TMR0=t0ini; //-- Flag de interrupcion a cero T0IF=0; //-- Esperar a que transcurra el tiempo indicado while(T0IF==0);
- 22. Herramientas generadoras (I)¡Las herramientas generadoras imponen restricciones a la compartición! Pago de licencias
- 23. Gratis, pero... Funcionalidadlimitada
- 24. Restricciones en eluso Restricciones en el Sistema Operativo
- 25. Planos en formatospropietarios
- 26. Hardware libre² 2Panos libres
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- 28. Software Libre Elhardware libre lo podemos clasificar en: Hardware libre Hardware libre²
- 29. Introducción: Robots librese imprimibles Latinoware 2011 Impresoras 3D Open Source
- 30. Impresoras 3D Impresora 3D : Dispositivo que construye objetos físicos a partir de bits Coste: Propietarias: 12.000€ - 60.000€
- 31. Open source: 350€ - 2.000€ Material : Plástico: ABS(26€/kg), PLA(29€/kg) Objeto físico Bits
- 32. Ejemplos de Objetos“impresos” Montura de Gafas http://www.thingiverse.com/thing:4110 Cabeza de Darth Vader (Star wars) http://www.thingiverse.com/thing:7215 Catedral gótica http://www.thingiverse.com/thing:7916
- 33. Vídeo 1: Unaimpresora en acción
- 34. Impresoras 3D Opensource Reprap project : Máquina auto-replicante (2005) Thingiverse : Sitio para compartir objetos físicos (2009) Makerbot : Comercializan impresoras 3D open-source (2009)
- 35. Robots libres eimprimibles para educación Nuestros robots tienen las siguientes características: 2 Diseño disponible para que cualquiera lo pueda usar, estudiar , modificar , distribuir , fabricar o vender Se pueden fabricar utilizando una impresora 3D open-source Se ha diseñado exclusivamente utilizando herramientas libres . Esto garantiza que no hay restricciones en su modificación, compartición o fabricación. Libres Imprimibles Herramientas libres
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- 40. Conclusiones y trabajosfuturos Robots libres e imprimibles Latinoware 2011
- 41. Robots previos (I): Tritt Robot libre
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- 44. Electrónica: TarjetaCT6811
- 45. Microcontrolador: 68hc11 Motorolahttp://goo.gl/Z7NZf Problemas : Mecánica “artesanal”, poco clonable
- 46. Cada taller derobótica con un diseño nuevo
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- 48. Vídeo 2: Elrobot Tritt
- 49. Robots previos (II): Skybot Robot libre
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- 51. Mećanica: Plástico cortadopor láser
- 52. Electrónica: TarjetaSkypic
- 53. Microcontrolador: 16F876A (Microchip)Robot clonable Problemas : Los estudiantes NO han evolucionado la mecánica http://goo.gl/cOVYx
Notas del editor
- #2 Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots
- #3 This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
- #4 This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
- #5 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #6 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #7 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #8 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #9 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #10 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #11 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #13 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #14 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #15 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #16 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #17 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #18 This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
- #19 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #21 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #23 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #24 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #26 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #27 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #28 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #29 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #30 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #31 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #32 This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
- #33 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #34 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #35 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #36 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #40 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #42 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #43 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #44 This presentation is divided into 7 parts. First I will introduce the Locomotion problem and the objectives of the dissertation. Second, I will explain the general classification for all the modular robots. Then I will present the central ideas of the dissertation: Locomotion of limbless robots in 1D, 2D and the locomotion of the minimal configurations. Then I will describe some experiments and we will see some videos and simulations. Finally, the conclusions and future work are summarized.
- #45 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #46 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #47 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #48 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #49 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #50 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #52 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #53 A big challenge in robotics is the development of a very versatile mobile robot capable of moving on different terrains. As a first approach, the study of locomotion of the mobile robots can be divided into two big leves. The higher level involves the perception of the environment, planning trajectories, navigation and making decisions. The lower level is in charge of the control and coordination of the joints in order to move the robot a step in any direction. This Locomotion lower level is the scope of the dissertation
- #54 Thanks Prof. Matellan. I am going to start the presentation of my Dissertation which is about the Locomotion of Limbless Modular robots