MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism
MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/8/1/11 |
| _version_ | 1797613268076855296 |
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| author | Carlos Prados Miguel Hernando Ernesto Gambao Alberto Brunete |
| author_facet | Carlos Prados Miguel Hernando Ernesto Gambao Alberto Brunete |
| author_sort | Carlos Prados |
| collection | DOAJ |
| description | MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin. |
| first_indexed | 2024-03-11T06:53:28Z |
| format | Article |
| id | doaj.art-4e7a7c1e1d9f4c13a4628bc609dbe995 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T06:53:28Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-4e7a7c1e1d9f4c13a4628bc609dbe9952023-11-17T09:48:59ZengMDPI AGBiomimetics2313-76732022-12-01811110.3390/biomimetics8010011MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic OrganismCarlos Prados0Miguel Hernando1Ernesto Gambao2Alberto Brunete3Centre for Automation and Robotics (CAR UPM-CSIC), Universidad Politécnica de Madrid, 28040 Madrid, SpainCentre for Automation and Robotics (CAR UPM-CSIC), Universidad Politécnica de Madrid, 28040 Madrid, SpainCentre for Automation and Robotics (CAR UPM-CSIC), Universidad Politécnica de Madrid, 28040 Madrid, SpainCentre for Automation and Robotics (CAR UPM-CSIC), Universidad Politécnica de Madrid, 28040 Madrid, SpainMoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin.https://www.mdpi.com/2313-7673/8/1/11modular robotlegged-and-climbing robotcontrol architecturerobotic organismdigital twin |
| spellingShingle | Carlos Prados Miguel Hernando Ernesto Gambao Alberto Brunete MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism Biomimetics modular robot legged-and-climbing robot control architecture robotic organism digital twin |
| title | MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism |
| title_full | MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism |
| title_fullStr | MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism |
| title_full_unstemmed | MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism |
| title_short | MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism |
| title_sort | moclora an architecture for legged and climbing modular bio inspired robotic organism |
| topic | modular robot legged-and-climbing robot control architecture robotic organism digital twin |
| url | https://www.mdpi.com/2313-7673/8/1/11 |
| work_keys_str_mv | AT carlosprados mocloraanarchitectureforleggedandclimbingmodularbioinspiredroboticorganism AT miguelhernando mocloraanarchitectureforleggedandclimbingmodularbioinspiredroboticorganism AT ernestogambao mocloraanarchitectureforleggedandclimbingmodularbioinspiredroboticorganism AT albertobrunete mocloraanarchitectureforleggedandclimbingmodularbioinspiredroboticorganism |