ROMERIN Robot

The initial target robot is the modular robot ROMERIN developed at the UPM ETSIDI. The system shall be able to manage different robot models. ROMERIN characteristics are the following:

• It has four modules: ODIN, THOR, LOKI and FRIGG.
• 7 controlled degrees of freedom 3-1-3
• All three orientations are reversible and low torque
• Battery and integrated control electronics
• BT-WIFI-CA external communication and a PWM channel
• Internal communication: I2C, 485
• 80cm leg span

M. Hernando, A. Brunete, and E. Gambao. ROMERIN: A modular climber robot for infrastructure inspection. In Preprints of the 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), pages 1049–1054, Vienna, Austria, Sept. 4-6 2019.