Self-reconfigurable modular robot - Experiments on reconfiguration and locomotion

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

Research output: Contribution to conferencePaper

75 Citations (Scopus)

Abstract

We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building static structure but generating dynamic robotic motion. We also developed a simulator for motion planning. In this paper, we present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

Original languageEnglish
Pages606-612
Number of pages7
Publication statusPublished - 2001 Dec 1
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kamimura, A., Murata, S., Yoshida, E., Kurokawa, H., Tomita, K., & Kokaji, S. (2001). Self-reconfigurable modular robot - Experiments on reconfiguration and locomotion. 606-612. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.