Abstract
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 language | English |
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Pages (from-to) | 142-149 |
Number of pages | 8 |
Journal | Robotics and Autonomous Systems |
Volume | 54 |
Issue number | 2 |
DOIs | |
Publication status | Published - 2006 Feb 28 |
Externally published | Yes |
Event | Intelligent Autonomous systems - Duration: 2005 Apr 10 → 2005 Apr 13 |
Keywords
- Autonomous distributed system
- Metamorphosis
- Modular robot
- Self-reconfiguration
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications