Planning behaviors of a modular robot: An approach applying a randomized planner to coherent structure

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

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

7 Citations (Scopus)

Abstract

A Method for behavior planning is presented for a modular robot that applies a randomized planner to coherent structure of the robot To cope with difficulty in planning of many degrees of freedom (DOFs) of a modular robot, coherent structure is introduced in terms of control system and robot configuration. As the control system, a simple phase synchronization mechanism is introduced that can control die robot with many DOFs with reduced number of parameters. Together with symmetrical configuration, this control system generates various dynamic motions. In order to plan the behaviors of the modular robot determined by the parameters of the control system, we adopt a randomized planner called rapidly exploring random trees (RRTs). This can benefit from a number of advantages of RRT planner, including simple implementation, uniform search, and applicability to a dynamic system with differential constraints. By exploring parameter space of the coherent control system, behaviors including dynamic motions can be planned. We have applied the proposed planner to M-TRAN modular robot to demonstrate the effectiveness of the proposed method through preliminary simulation results.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages2056-2061
Number of pages6
Publication statusPublished - 2004 Dec 1
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume2

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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  • Cite this

    Yoshida, E., Kurokawa, H., Kamimura, A., Tomita, K., Kokaji, S., & Murata, S. (2004). Planning behaviors of a modular robot: An approach applying a randomized planner to coherent structure. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2056-2061). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 2).