Related Experiment Video
Updated: Aug 14, 2025
07:40
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
14.0K
MoCLORA-An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism
Carlos Prados1, Miguel Hernando1, Ernesto Gambao1
1Centre for Automation and Robotics (CAR UPM-CSIC), Universidad Politécnica de Madrid, 28040 Madrid, Spain.
Biomimetics (Basel, Switzerland)
|January 17, 2023
Summary
MoCLORA is a novel software framework enabling versatile control for modular climbing robots. This architecture allows adaptable locomotion and seamless integration with digital twins for diverse environmental tasks.
Area of Science:
- Robotics
- Bio-inspired Engineering
- Software Architecture
Background:
- Modular robotic systems offer adaptability but require sophisticated control frameworks.
- Bio-inspired designs, like insect locomotion, provide valuable models for versatile robotic movement.
- Integrating physical robots with digital twins is crucial for efficient testing and development.
Purpose of the Study:
- To introduce MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture), a software framework for modular, bio-inspired climbing robots.
- To enable control of organisms with variable morphology and module configurations.
- To facilitate seamless interaction between physical robots and their digital twins.
Main Methods:
- Development of a modular low-level software architecture for robot control.
- Implementation of body and leg control for position and velocity.
- Creation of ROMERIN, a modular climbing robot, and its digital twin for testing.
- Validation of the MoCLORA framework using both physical and simulated robots.
Main Results:
- MoCLORA successfully coordinates modular robots of any morphology.
- The framework supports variable numbers and arrangements of modules, enhancing versatility.
- Position and velocity control of the entire robot body and its legs are achieved.
- The digital twin facilitates efficient testing of different module configurations.
Conclusions:
- MoCLORA provides a versatile and adaptable software solution for modular climbing robots.
- The framework enhances robotic capabilities for diverse tasks and environments through modularity and digital twin integration.
- MoCLORA represents a significant advancement in the control of bio-inspired, modular robotic systems.
Related Concept Videos
01:23Muscles that Move the Leg
2.4K
The movement of the legs is facilitated by numerous muscles located within the anterior, medial, and posterior compartments of the thigh.
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed...
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed...
2.4K
01:07Development of the Limb Synovial Joints
1.5K
Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
1.5K
01:27Movement Joints in Buildings
156
Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
The simplest type of movement joints, working joints, are...
The simplest type of movement joints, working joints, are...
156
01:12Carbon Skeletons
108.0K
Life on Earth is carbon-based, as all macromolecules that make up living organisms contain carbon atoms. All organic compounds have a carbon backbone. Each carbon atom is tetravalent and can bond with four other atoms, making it an extraordinarily flexible component of biological molecules. Because carbon’s valence electrons are stable, it rarely becomes an ion. As the carbon chain increases in length, structural modifications such as ring structures, double bonds, and branching side...
108.0K
01:24One-Degree-of-Freedom System
537
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
537
01:22Mechanical Systems
253
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
253