An amoeboid modular robot that exhibits real-time adaptive reconfiguration

Masahiro Shimizu, Akio Ishiguro

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

10 Citations (Scopus)

Abstract

This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, each of which has simple motile functions. We have so far investigated a fully decentralized algorithm able to control the morphology of the modular robot in real-time according to the environment encountered. One of the most significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems. In order to verify our proposed control scheme, we have constructed real physical Slimebot. Experiments with 10 modules suggest that this robot exhibits significant abilities, i.e., adaptivity, scalability, and fault tolerance.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1496-1501
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'An amoeboid modular robot that exhibits real-time adaptive reconfiguration'. Together they form a unique fingerprint.

  • Cite this

    Shimizu, M., & Ishiguro, A. (2009). An amoeboid modular robot that exhibits real-time adaptive reconfiguration. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 1496-1501). [5354279] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354279