Simulation of modular robotic system MECABOT in caterpillar and snake configurations using Webots software

摘要

In this paper are presented the simulation results of the locomotion of MECABOT, a Modular Robotic System designed and developed in the Militar Nueva Granada University. A Webots controller file is developed starting from the equations that describe the movement of MECABOT chain architecture, considering the caterpillar and snake configurations. The variation of the parameters of the equation in the controller file: frequency, amplitude, number of modules and number of waves, is done depending on the connection between the semi-modules in order to obtain velocity and behavior data and so, determining an appropriate range of operation for the displacement. The simulation is realized using Webots, a development environment for modelling, programming and simulating mobile robots, by developing a Webots controller file using C as language code.