Research on self-reconfigurable modular robot system (Experiments on reconfiguration and locomotion with several modules)

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

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

Original languageEnglish
Pages (from-to)1490-1496
Number of pages7
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume46
Issue number4
DOIs
Publication statusPublished - 2003 Dec
Externally publishedYes

Keywords

  • Distributed autonomous system
  • Mechatronics and robotics
  • Modular robot
  • Robotic motion generation
  • Self-reconfiguration
  • Self-repair

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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