Self-reconfigurable M-TRAN structures and walker generation

H. Kurokawa, E. Yoshida, K. Tomita, A. Kamimura, S. Murata, S. Kokaji

Research output: Contribution to journalConference articlepeer-review

49 Citations (Scopus)


The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration and whole body locomotion. Introducing regularity in allowed structures reduced difficulties of its reconfiguration problems. Several locomotion patterns in various structures were designed systematically using a CPG controller model and GA optimization. Then they were verified by experimentation. Results showed a feasible scenario of operation with multiple M-TRAN modules, which is presented herein, including metamorphosis of a regular structure, generation of walkers from the structure, walker locomotion, and reassembling of walkers to the structure.

Original languageEnglish
Pages (from-to)142-149
Number of pages8
JournalRobotics and Autonomous Systems
Issue number2
Publication statusPublished - 2006 Feb 28
Externally publishedYes
EventIntelligent Autonomous systems -
Duration: 2005 Apr 102005 Apr 13


  • Autonomous distributed system
  • Metamorphosis
  • Modular robot
  • Self-reconfiguration

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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