A development of a modular robot that enables adaptive reconfiguration

Masahiro Shimizu, Takafumi Mori, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules. The Slimebot exhibits adaptive reconfiguration by exploiting a fully decentralized algorithm able to control its morphology according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment" among nonlinear oscillators, the former of which is used as a spontaneous connectivity control mechanism between the modules, and the latter of which acts as the core of the control mechanism for the generation of locomotion. Experimental results indicate that the proposed algorithm can induce locomotion, which allows us to successfully control the morphology of the modular robot in real time according to the situation without losing the coherence of the entire system.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages174-179
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Decentralized control algorithm
  • Emergent phenomena
  • Modular robot
  • Morphology control
  • Spontaneous connectivity control mechanism

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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