Self-reconfigurable M-TRAN structures and walker generation

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

doi:10.1016/j.robot.2005.09.023

Self-reconfigurable M-TRAN structures and walker generation

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

Research output: Contribution to journal › Conference article › peer-review

45 Citations (Scopus)

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
Pages (from-to)	142-149
Number of pages	8
Journal	Robotics and Autonomous Systems
Volume	54
Issue number	2
DOIs	https://doi.org/10.1016/j.robot.2005.09.023
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

Access to Document

10.1016/j.robot.2005.09.023

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AU - Kurokawa, H.

AU - Yoshida, E.

AU - Tomita, K.

AU - Kamimura, A.

AU - Murata, S.

AU - Kokaji, S.

PY - 2006/2/28

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KW - Modular robot

KW - Self-reconfiguration

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