Distributed self-reconfiguration control of modular robot M-TRAN

Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Eiichi Yoshida, Shigeru Kokaji, Satoshi Murata

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

19 Citations (Scopus)

Abstract

Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.

Original languageEnglish
Title of host publicationIEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages254-259
Number of pages6
Publication statusPublished - 2005 Nov 17
Externally publishedYes
EventIEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada
Duration: 2005 Jul 292005 Aug 1

Publication series

NameIEEE International Conference on Mechatronics and Automation, ICMA 2005

Other

OtherIEEE International Conference on Mechatronics and Automation, ICMA 2005
CountryCanada
CityNiagara Falls, ON
Period05/7/2905/8/1

Keywords

  • Distributed autonomous system
  • Self-reconfiguration

ASJC Scopus subject areas

  • Engineering(all)

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