Self-assembly through the local interaction between "embodied" nonlinear oscillators with simple motile function

Kazuya Suzuki, Tsunamichi Tsukidate, Takeshi Nakada, Masahiro Shimizu, Akio Ishiguro

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

1 Citation (Scopus)

Abstract

One of the most amazing phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon are not thoroughly understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of self-assembly with the use of a multirobotic system each of which has simple motile function. The main contributions of this paper are twofold: the first concerns a fully decentralized control method derived from the mutual entrainment between coupled nonlinear oscillators; and the second is related to the exploitation of inter-modular physical interaction stemming from a passive deformation mechanism, which allows an efficient movement of individual modules during the course of self-assembly. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, in principle, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. Simulation results show that stable and spontaneous self-assembly is achieved irrespective of the initial positional relationship between the modules.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1319-1324
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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