Robot body parts

This page contains a full list of Robogen body parts. Descriptions of parts which contain sensors or motors contain a table of those devices and the corresponding input/output id (IO id). These identifiers are used for the specification of the neural network.

Note: There are other ‘legacy parts’, which were previously part of RoboGen, but have been removed to reduce the number of components in order to simplify the system and make evolution more interesting: see here for more details

Additionally, previous versions of the system used a slightly larger Core Component / Fixed Brick that allowed attaching other components on all 6 sides.

The core component

This is the core component of which each robot should have exactly one. This cube holds the Arduino board as well as the battery that powers the robot. Furthermore it holds an IMU which has accelerometers and gyros on 3 axes. When fabricating your robot try to place/orient the core at a well accessible location of the robot, as you will quite often have to connect the battery to the charger, the Arduino to your computer, or adjust the connections on the Arduino.

IO id Input/output device
0 x-accelerometer
1 y-accelerometer
2 z-accelerometer
3 x-gyroscope (angular velocity)
4 y-gyroscope (angular velocity)
5 z-gyroscope (angular velocity)
Core Component

Structural components

Fixed brick

This is the main structural component of the robot. It resembles the core component but does not bear the electronics of the latter. The side length of the cube is 4.65cm. Each side can be connected to another component.

Fixed Brick

Parametric bar joint

The parametric bar joint allows the introduction of fix angles into your robot and can also be useful depending on the needs to space components of your robot. Three parameters can be controlled: The length of the joint (H, between 2 and 10 centimeters), its tilt (alpha, between -90 and 90 degrees) and its rotation (beta, however this is currently restrictedto be 0 degrees). Compared to the fixed brick or core component, the parametric bar joint is somewhat frail and should not be exposed to too much mechanical stress.

180px-Joint

Moving joints

For all active moving joints, the signal from the neural network corresponds to servo position, not velocity.

Active or passive hinge joint

IO id Input/output device
0 Motor of active hinge

ActiveHinge_ServoHolder_FrameWithoutHorn_Servo_20 deg

Passive Hinge

 

Sensors

Light sensor

The light sensor (a VISHAY BPW85B) emits an analog signal according to light intensity. Note its angular sensitivity.

IO id Input/output device
0 Light sensor

180px-LightSpec

LightSensor External

Infrared sensor

The Ir sensor is a range sensor (the ST VL6180X) that measures the distance in a narrow (10 mm) beam perpendicular to the sensor, within a range of 10 to 210 mm.

IO id Input/output device
0 IR sensor
 IRsensor