Self-organization of motion

Satoshi Murata, Haruhisa Kurokawa

研究成果: Chapter

抄録

In contrast with lattice-type modular robots capable of self-reconfiguration, chain-type modular robots are made for flexible motions, exploiting their multiple degrees of freedom. Motion control is one of the major areas of robotics, and knowledge accumulated through years of experience is applicable to chain type modular robots. Most of such knowledge and methods, however, are suited to a centralized controller based on a complete and precise model. In this chapter, we explore a way to design distributed motion control for modular robots. We start with building a homogeneous distributed control system applicable to any robot configuration. The system then is optimized accordingly to each specific robot configuration.

本文言語English
ホスト出版物のタイトルSelf-Organizing Robots
ページ173-209
ページ数37
STAR
DOI
出版ステータスPublished - 2012 4 27

出版物シリーズ

名前Springer Tracts in Advanced Robotics
番号STAR
77
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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