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 |
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Pages (from-to) | 373-386 |
Number of pages | 14 |
Journal | International Journal of Robotics Research |
Volume | 27 |
Issue number | 3-4 |
DOIs | |
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