M-TRAN II: Metamorphosis from a Four-Legged Walker to a Caterpillar

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

Research output: Contribution to conferencePaper

53 Citations (Scopus)

Abstract

We have been developing a self-reconfigurable modular robotic system (M-TRAN) which can make various 3-D configurations and motions. In the second prototype (M-TRAN II), various improvements are integrated in order to realize complicated reconfigurations and versatile whole body motions. Those are a reliable connection/detachment mechanism, on-board multi-computers, high speed inter-module communication system, low power consumption, precise motor control, etc. Programing environments are also integrated to design self-reconfiguration processes, to verify motions in dynamics simulation, and to realize distributed control on the hardware. Hardware design, developed software and experiments are presented in this paper.

Original languageEnglish
Pages2454-2459
Number of pages6
Publication statusPublished - 2003 Dec 29
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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