Elasticity compensation in inverse kinematics for the Roombots modules Final Report

In this report, I am presenting the work done during my internship at the Biorobotics Laboratoryof EPFL. The broad goal of the project is elasticity characterization using learning and elasticitycompensation in Roombots modules.The Roombots project at BioRob uses modular, homogeneous and in-series robots. They aremoving, attaching or detaching and reconfiguring on a grid as single modules and meta-modules.Reconfiguration cannot always be performed because of the deflection in the structure. Thehypothesis is that the main causes for the deflection are elasticity and backlash in the modules’joints.The goal of my internship is to characterize the elasticity of the modules, and ideally findthe main cause of the module bending. The global method chosen to reach this goal consists inusing a learning algorithm on experimental hardware, and simulated data. The real data camefrom an infrared tracking system, and the simulated data was acquired using a finite elementanalysis tool in SolidWorks.I am presenting results both from FEA and hardware experiments, which give a first estimationof the Roombots elasticity.