Self-reconfigurable M-TRAN structures and walker generation

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

研究成果: Conference article査読

47 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)142-149
ページ数8
ジャーナルRobotics and Autonomous Systems
54
2
DOI
出版ステータスPublished - 2006 2 28
外部発表はい
イベントIntelligent Autonomous systems -
継続期間: 2005 4 102005 4 13

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

フィンガープリント

「Self-reconfigurable M-TRAN structures and walker generation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル