Abstract
This project shows the simulation of a robotic modular system. It has one kind of module, which can couple with two more. The modules have five degrees of freedom (DOF), and can move in four different ways: independent module mode, caterpillar mode, snake mode and wheel mode. The last three kinds of movements need to have several modules coupled. Each module can move either using two pivots at its ends or by using tiny wheels that allow it to move in a direction that is perpendicular to the direction it follows when using its pivots; these gyratory elements also allow the module to rotate around one of its ends. The system controls based on sine functions.
Published Version
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