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 locomotion capabilities of the sub-group 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)
This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules(More)
Snakes modular robots are good candidates for being used in Urban Search And Rescue (USAR) operations because of their flexibility, good adaptation to the terrain and small section. We propose to design and build snake robots that combine three capabilities: locomotion, climbing and grasping. The last one allows the robot to remove objects for clearing the(More)
Climbing robots work in a special vertical environment and use mobility against gravity (Zhang, 2007). They are a special potential sub-group of mobile technology. In the recent 15 years, there have been considerable achievements in climbing robot research worldwide by exploring potential applications in hazardous and unmanned environments (Virk, 2005). The(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)
The business dynamics of the agricultural sector generally call for a system of calculation and cost management that goes beyond output assessment and profit determination, and coordinates a tool that supports the decision-making process, thus facilitating the evaluation of different cultivation techniques, varieties and so on. Accordingly, this paper(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)
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)