| Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology typically uses gait tables to control modular robots and a typical remote controller used to control mobile robots involves joysticks. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power.;As a result of this research, a novel teleoperating method based on pose programming as well as a versatile Graphical User Interface, a set of libraries and tools have been developed, which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller's ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through a simple course. |
