A self-reconfigurable robotic system that exhibits amoebic locomotion

Masahiro Shimizu, Akio Ishiguro

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

3 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 publication2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
Pages101-106
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007 - Beijing, China
Duration: 2007 May 232007 May 27

Other

Other2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
Country/TerritoryChina
CityBeijing
Period07/5/2307/5/27

Keywords

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

ASJC Scopus subject areas

  • Biomedical Engineering
  • Medicine(all)

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