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 journalArticlepeer-review

211 Citations (Scopus)


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 languageEnglish
Pages (from-to)373-386
Number of pages14
JournalInternational Journal of Robotics Research
Issue number3-4
Publication statusPublished - 2008 Mar
Externally publishedYes


  • 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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