Juan González-Gómez

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— In this paper, a general classification of the modular robots is proposed, based on their topology and the type of connection between the modules. The loco-motion capabilities of the subgroup of pitch-yaw connecting robots are analyzed. Five different gaits have been implemented and tested on a real robot composed of eight modules. One of them, rotating,(More)
This paper presents a low-cost modular robot called GZ-I which is an improved version of the Y1 modular robot. After a related survey on the previous work, all aspects of the new modular robot are introduced systematically. GZ-I features an easy-to-build mechanical structure, four connecting faces, an onboard easy-to-use electric controller, and a friendly(More)
Figure 1. Typical urban scenario after an earthquake. A highly unstructured and chaotic environment with a lot of pieces of rumble. Likely, there are people inside that should be rescued immediately. City of Puerto Principe, Abstract—Snakes modular robots are good candidates for being used in Urban Search And Rescue (USAR) operations because of their(More)
The motion of wheeled mobile robots is inherently based on their wheels' rolling capabilities. The assumption is that each wheel can rotate indefinitely, backwards or forward. This is the starting point for all motion control mechanisms of wheeled robots. In this paper, a new motion capability of differential mobile robots with limited wheel rotation(More)
Bio-inspired central pattern generator approaches have been used for robotic autonomous locomotion mainly in legged, serpentine and worm like robots. In this paper we propose a new bio-inspired central pattern generator (CPG) neural circuit to control a differential wheeled robot. The CPG uses bursting neurons coupled through time evolving synapses, which(More)
The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the Cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot Cube-M with one degree of(More)
In this paper, a new method for solving the inverse kinematics of the fingers of an anthropomorphic hand is proposed. Our approach combines a Modified Selectively Damped Least Squares (MSDLS) and Jacobian Transpose (JT) methods. The main advantages of this method with respect to the ordinary SDLS are: optimal Cartesian increment, shorter computation time(More)
For many years robotics has been benefited from the open source community. Software community projects like Player, Stage, Gazebo, ROS, or OpenCV are present in most robotic applications. In recent years this trend has also been initiated among electronic and mechanical developments (open hardware). The Arduino development platform is a good example of a(More)