Abstract
Research and development in Modular and Snake robots, has become an important area of study among the robotics community, due to the potential real applications in the field that these systems feature. Particular efforts in the locomotion analysis of these machines, along with better hardware design, created in our lab the need for adopting a robot architecture that integrate all the software components specifically developed. Robustness and modularity to add/remove components suited for specific applications or future enhancements, are the prime objective in the integration scheme shown in this paper. The systems that this architecture integrate, range from the front-end graphic user interfaces, a physics simulator, a visualization tool, to the low level robot controller. We have tested such architecture in the design and operation of multi-locomotion capabilities of modular snake robots, towards improvement of their performance and solution of tasks in real scenarios.
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Melo, K. et al. (2014). Integration Scheme for Modular Snake Robot Software Components. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2014. Lecture Notes in Computer Science, vol 8906. Springer, Cham. https://doi.org/10.1007/978-3-319-13823-7_17
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DOI: https://doi.org/10.1007/978-3-319-13823-7_17
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13822-0
Online ISBN: 978-3-319-13823-7
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