Abstract: This paper presents an implementation of an architectural module that corresponds to a long serial chain modular robot. As such, this configuration poses possibilities that can move using travelling wave gaits based on snakes and caterpillars. The gaits are controlled with a Gait Control Table which is a simple but powerful way to coordinate the motion of a multiple degree-of-freedom systems. The gaits are implemented on a self-sufficient modular reconfigurable robot with onboard power, computation, sensors and actuators.
PDF - Locomotion with Modular Architecture