Research on self-reconfigurable modular robot system (Experiments on reconfiguration and locomotion with several modules)

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

研究成果: Article

1 引用 (Scopus)

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Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

元の言語English
ページ(範囲)1490-1496
ページ数7
ジャーナルJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
46
発行部数4
DOI
出版物ステータスPublished - 2003 12
外部発表Yes

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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