This repository showcase the design of a modularized robot, which can be deployed with different number of modules and configurations. Specially, both simulation and hardware control code are presented for the configuration of: (1) Single module (2) Dual-modules snake/biped (3) Four-modules quadruped.
Contents:
- Designs: Hardware design .stl and kinemetic illustration
- MujocoSimulation: Simulation in Mujoco
- HardwareControlESP32: Hardware communication and control
This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
The source code is released under a BSD 3-Clause license.
Authors: Jiayu Ding, Rohit Jakkula, Tom Xiao, and Zhenyu Gan
Affiliation: DLAR Lab
Maintainer: Jiayu Ding, jding14@syr.edu />
This projected was initially developed at Syracuse University (Dynamic Locomotion and Robotics Lab).
This work has been submitted to International Conference on Intelligent Robots and Systems (IROS) 2025.
If you use this work in an academic context, please cite the following publication:
J. Ding, R. Jakkula, T. Xiao and Z. Gan "Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion", https://doi.org/10.48550/arXiv.2503.13674
@misc{https://doi.org/10.48550/arxiv.2503.13674, doi = {10.48550/ARXIV.2503.13674}, url = {https://arxiv.org/abs/2503.13674}, author = {Ding, Jiayu and Jakkula, Rohit and Xiao, Tom and Gan, Zhenyu}, keywords = {Robotics (cs.RO), Systems and Control (eess.SY), FOS: Computer and information sciences, FOS: Computer and information sciences, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Electrical engineering, electronic engineering, information engineering}, title = {Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion}, publisher = {arXiv}, year = {2025}, copyright = {Creative Commons Attribution 4.0 International} }
See the READE files under MujocoSimulation and HardwareControlESP32.
