Abstract
Simulators have been increasingly used on development and tests on several areas. They allow to speed up the development without damage and no extra costs. On realistic simulators, where kinematics play an important role, the modelling process should be imported for each component to be accurately simulated. Some robots are not yet modelled, as for example the Monera. This paper presents a model of a small vibration robot (Monera) that is acquired in a developed test-bed. A localisation ground truth is used to acquire the position of the Monera with actuating it. Linear and angular speeds acquired from real experiments allow to validate the proposed methodology.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Rubenstein, M., Ahler, C., Nagpal, R.: Kilobot: a low cost scalable robot system for collective behaviors. In: 2012 IEEE International Conference on Robotics and Automation, pp. 3293–3298 (2012)
Vartholomeos, P., Papadopoulos, E.: Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, pp. 649–654 (2006)
Karydis, K., Liu, Y., Poulakakis, I., Tanner, H.G.: A template candidate for miniature legged robots in quasi-static motion. Auton. Robot. 38(2), 193–209 (2014). https://doi.org/10.1007/s10514-014-9401-4
Transeth, A.A., Pettersen, K.Y., Liljebäck, P.: A survey on snake robot modeling and locomotion. Robotica 27(7), 999–1015 (2009)
Zhan, X., Xu, J., Fang, H.: A vibration-driven planar locomotion robot–Shell. Robotica 36, 1–19 (2018). https://doi.org/10.1017/S0263574718000383
Liljebäck, P., Pettersen, K.Y., Stavdahl, O., Gravdahl, J.T.: Snake Robots: Modelling, Mechatronics, and Control. Springer, London (2012). https://doi.org/10.1007/978-1-4471-2996-7
Lin, H.T., Leisk, G.G., Trimmer, B.: GoQBot: a caterpillar-inspired soft-bodied rolling robot. Bioinspir. Biomim. 6(2), 026007 (2011)
Yao, J.J., Gao, S., Jiang, G.L., Hill, T.L., Yu, H., Shao, D.: Screw theory based motion analysis for an inchworm-like climbing robot. Robotica 33(8), 1704–1717 (2015)
Bolotnik, N.N., Zeidis, I.M., Zimmermann, K., Yatsun, S.F.: Dynamics of controlled motion of vibration-driven systems. J. Comput. Syst. Sci. Int. 45(5), 831–840 (2006)
Chernousko, F.L.: Analysis and optimization of the motion of a body controlled by means of a movable internal mass. PMM - J. Appl. Math. Mech. 72(6), 819–842 (2006)
Hatazaki, K., Konyo, M., et al.: Active scope camera for urban search and rescue. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, pp. 2596–2602 (2007)
Becker, F., Minchenya, V.T., Zeidis, I., Zimmermann, K.: Modeling and dynamical simulation of vibration-driven robots. In: 56th International Scientific Colloquium Ilmenau University of Technology (2011)
Pinciroli, C., Talamali, M.S., Reina, A., Marshall, J.A.R., Trianni, V.: Simulating Kilobots within ARGoS: models and experimental validation. In: Dorigo, M., Birattari, M., Blum, C., Christensen, A.L., Reina, A., Trianni, V. (eds.) ANTS 2018. LNCS, vol. 11172, pp. 176–187. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00533-7_14
Li, B., Wu, J., Tan, X., Wang, B.: ArUco marker detection under occlusion using convolutional neural network. In: 2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE), pp. 706–711 (2020). https://doi.org/10.1109/CACRE50138.2020.9230250
Poroykov, A., Kalugin, P., Shitov, S., Lapitskaya, I.: Modeling ArUco markers images for accuracy analysis of their 3D pose estimation. In: Proceedings of the 30th International Conference on Computer Graphics and Machine Vision (GraphiCon 2020), Part 2, short14-1 (2020). https://doi.org/10.51130/graphicon-2020-2-4-14
Oščádal, P., et al.: Improved pose estimation of ArUco tags using a novel 3D placement strategy. Sensors (Basel, Switzerland) 20(17), 4825 (2020). https://doi.org/10.3390/s20174825
Acknowledgements
This work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020 and also by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project LA/P/0063/2020.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Matos, D. et al. (2023). Modelling of a Vibration Robot Using Localization Ground Truth Assisted by ArUCo Markers. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_44
Download citation
DOI: https://doi.org/10.1007/978-3-031-15226-9_44
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-15225-2
Online ISBN: 978-3-031-15226-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)