動的再構成可能ロボットシステムに関する研究 : 第3報, セル構造化ロボット"CEBOT"の認識, 通信システム

概要

論文の詳細を見る
The dynamically reconfigurable robotic system (DRRS) is a new kind of robotic system which is able to reconfigurate itself to an optimal structure depending on the purpose and exvironment. To realize this concept, we proposed the CEBOT (cell-structured robot). Communication is needed in the CEBOT system as follows. When cells are separated, a communication master cell needs to know the other cell's function and position and determine the target cell for docking. Mobile cells should be able to coordinate with other mobile cell. When cells are docked, forming a cell structure/module, a master cell should control the bending joint cell and know which cells the construction is composed of. In this paper, we propose a communication protocol for both cases with optical sensor applicable to CEBOT. Some experimental results are shown by realizing the proposed communication method between cells.
一般社団法人日本機械学会の論文
1990-03-25