Distributed metamorphosis control of a modular robotic system M-TRAN

Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Satoshi Murata, Yuzuru Terada, Shigeru Kokaji

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

11 Citations (Scopus)

Abstract

Metamorphosis by a self-reconfigurable modular robot is presented in this report. We have developed a new prototype, "M-TRAN III", which is improved in its high speed and rigid connection mechanism. Using its integrated design of a multi-CPU controller with various programming tools, experiments of self-reconfiguration were successfully carried out through single master synchronous control. Based on the obtained results, decentralized and locally synchronous control was accomplished, which controlled self-reconfiguration of up to 20 modules using the same program.

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems 7
PublisherSpringer Publishing Company
Pages115-124
Number of pages10
ISBN (Print)4431358781, 9784431358787
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event8th Symposium on Distributed Autonomous Robotic Systems, DARS 2008 - Minneapolis, St. Paul, MN, United States
Duration: 2006 Jul 122006 Jul 14

Publication series

NameDistributed Autonomous Robotic Systems 7

Other

Other8th Symposium on Distributed Autonomous Robotic Systems, DARS 2008
Country/TerritoryUnited States
CityMinneapolis, St. Paul, MN
Period06/7/1206/7/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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