Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System-Reference-Cited by-同舟云学术

Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System

Published:2008-03 Issue:3-4 Volume:27 Page:373-386
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Kurokawa Haruhisa¹,Tomita Kohji²,Kamimura Akiya²,Kokaji Shigeru²,Hasuo Takashi³,Murata Satoshi⁴

Affiliation:

1. Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564, Japan,

2. Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564, Japan

3. Graduate School of Systems and Information Engineering at University of Tsukuba Tsukuba, Ibaraki 305-8573, Japan

4. Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Midori-ku, Yokohama 226-8502, Japan

Abstract

A new prototype of a self-reconfigurable modular robot, M-TRAN III, has been developed, with an improved fast and rigid connection mechanism. Using a distributed controller, various control modes are possible: single-master, globally synchronous control or parallel asynchronous control. Self-reconfiguration experiments using up to 24 modules were undertaken by centralized or decentralized control. Experiments using decentralized control examined a modular structure moved in a given direction as a flow produced by local self-reconfigurations. In all experiments, system homogeneity and scalability were maintained: modules used identical software except for their ID numbers. Identical self-reconfiguration was realized when different modules were used in initial configurations.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364907085560

Reference17 articles.

1. Generic Decentralized Control for Lattice-Based Self-Reconfigurable Robots

2. Automatic Locomotion Design and Experiments for a Modular Robotic System

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