Servo - 201306

bots IN BRIEF

SUPER SIMPLE SWARM SLINKYS

Swarm Slinky is a project at the Technical University of Madrid. The idea behind Swarm Slinky is to build a multi-robot system consisting of six independent units designed to explore difficult terrain.

The six units are interrelated, creating a mobile network distributed by robots which are able to transport payloads (sensors). The swarm can be spread out from a central point (supply rover), then move in a radial sequence with the purpose of moving as far away from the rover as possible. The obtained effective range from the point of view of the exploration is the combination of the six ranges of each individual robot.

In addition to this capacity to cover an explored length bigger than the one which would be covered by a single robot, it should be noted that the six robots will form an irregular hexagon which defines a zone where the measurement of determined variables can be done.

Finally, the advantage of using a swarm of robots must be emphasized, such as the increasement in strength of the system; a possible breakdown of any of the individual robots would not affect the mission totally.

The given system can be divided in two levels: collective and individual. On the one hand (as a group), the individuals are considered as identical and simple units which can be dispensable for the development of the mission. Their capacities of intercommunication allow them to act as nodes of an interrelated network; a mesh. If some of the units get

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damaged, the system — as a group — can continue to operate.

The four legs of each robot have independent movements. They are connected to the body by four continuous rotation drives with position feedback. This configuration is very versatile and allows different locomotion modes such as slinky, rolling, caterpillar, quadruped and whegs.