Self-reconfigurable modular robot - Experiments on reconfiguration and locomotion

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

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 conference › Paper › peer-review

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 language	English
Pages	606-612
Number of pages	7
Publication status	Published - 2001 Dec 1
Externally published	Yes
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: 2001 Oct 29 → 2001 Nov 3

Other

Other	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	01/10/29 → 01/11/3

ASJC Scopus subject areas

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

Cite this

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title = "Self-reconfigurable modular robot - Experiments on reconfiguration and locomotion",

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.",

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AU - Kamimura, Akiya

AU - Murata, Satoshi

AU - Yoshida, Eiichi

AU - Kurokawa, Haruhisa

AU - Tomita, Kohji

AU - Kokaji, Shigeru

PY - 2001/12/1

Y1 - 2001/12/1

N2 - 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.

AB - 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.

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M3 - Paper

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T2 - 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 29 October 2001 through 3 November 2001

ER -

Self-reconfigurable modular robot - Experiments on reconfiguration and locomotion

Abstract

Other

ASJC Scopus subject areas

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