Distributed self-reconfiguration of M-TRAN III modular robotic system

Haruhisa Kurokawa; Kohji Tomita; Akiya Kamimura; Shigeru Kokaji; Takashi Hasuo; Satoshi Murata

doi:10.1177/0278364907085560

Distributed self-reconfiguration of M-TRAN III modular robotic system

Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Shigeru Kokaji, Takashi Hasuo, Satoshi Murata

Research output: Contribution to journal › Article › peer-review

193 Citations (Scopus)

Abstract

A new prototype of a self-reconfigurable modular robot, M-TRAN III, has been developed, with an improved fast and rigid connection mechanism. Using a distributed controller, various control modes are possible: single-master, globally synchronous control or parallel asynchronous control. Self-reconfiguration experiments using up to 24 modules were undertaken by centralized or decentralized control. Experiments using decentralized control examined a modular structure moved in a given direction as a flow produced by local self-reconfigurations. In all experiments, system homogeneity and scalability were maintained: modules used identical software except for their ID numbers. Identical self-reconfiguration was realized when different modules were used in initial configurations.

Original language	English
Pages (from-to)	373-386
Number of pages	14
Journal	International Journal of Robotics Research
Volume	27
Issue number	3-4
DOIs	https://doi.org/10.1177/0278364907085560
Publication status	Published - 2008 Mar
Externally published	Yes

Keywords

Controller area network
Decentralized control
Distributed autonomous system

ASJC Scopus subject areas

Software
Modelling and Simulation
Mechanical Engineering
Electrical and Electronic Engineering
Artificial Intelligence
Applied Mathematics

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10.1177/0278364907085560

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abstract = "A new prototype of a self-reconfigurable modular robot, M-TRAN III, has been developed, with an improved fast and rigid connection mechanism. Using a distributed controller, various control modes are possible: single-master, globally synchronous control or parallel asynchronous control. Self-reconfiguration experiments using up to 24 modules were undertaken by centralized or decentralized control. Experiments using decentralized control examined a modular structure moved in a given direction as a flow produced by local self-reconfigurations. In all experiments, system homogeneity and scalability were maintained: modules used identical software except for their ID numbers. Identical self-reconfiguration was realized when different modules were used in initial configurations.",

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AU - Kurokawa, Haruhisa

AU - Tomita, Kohji

AU - Kamimura, Akiya

AU - Kokaji, Shigeru

AU - Hasuo, Takashi

AU - Murata, Satoshi

PY - 2008/3

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Distributed self-reconfiguration of M-TRAN III modular robotic system

Abstract

Keywords

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