Don't try to control everything! An emergent morphology control of a modular robot

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

16 Citations (Scopus)

Abstract

This paper discusses a fully decentralized algorithm able to control the morphology of a modular robot, consisting of many identical modules, according to the environment encountered. One of the significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interaction between control and mechanical dynamics in order to control the morphology in real time. To this end, we particularly focus on a "functional material" and a "mutual entrainment", the former of which is used as a connection mechanism between the modules, and the latter of which plays as the core of the control mechanism for the generation of locomotion. Simulation results indicate that the proposed algorithm can induce "protoplasmic streaming", which allows us to successfully control the morphology of modular robot in real time according to the situation without losing the coherence of the entire system.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages981-985
Number of pages5
Volume1
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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