Real-time morphology control of a modular robot by exploiting the interaction between control and mechanical dynamics

Masayasu Takahashi, Masahiro Shimizu, Toshihiro Kawakatsu, Akio Ishiguro

Research output: Contribution to conferencePaperpeer-review

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 an "emergent phenomenon" 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. Preliminary 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
Pages387-392
Number of pages6
Publication statusPublished - 2004 Dec 1
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: 2004 Aug 42004 Aug 6

Other

OtherSICE Annual Conference 2004
Country/TerritoryJapan
CitySapporo
Period04/8/404/8/6

Keywords

  • Autonomous decentralized algorithm
  • Emergent phenomenon
  • Modular robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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