Networking and Information Distribution in Robots Composed of Identical Units
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概要
- 論文の詳細を見る
Robotic systems composed of identical units can be made flexible in size, degrees of freedom, and output motions in response to desired tasks. There are three basic characteristics which are desirable in such systems : (1) expandability, (2) perceptibility of unit's location, and (3) fault tolerance. These characteristics can be varied depending on the networking and information distribution scheme adopted. The present paper proposes a method of classifying and comparing networking schemes for such robotic systems based on the above-mentioned basic characteristics, and the optimal networking scheme is then clarified for a particular application. An experimental transfer robot composed of identical units, each of which has nineteen arms, was constructed, and the experimental results are shown to support the proposed method.
- 一般社団法人日本機械学会の論文
- 1992-12-15
著者
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HORIE Mikio
Precision and Intelligence Laboratory, Tokyo Institute of Technology
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Horie Mikio
Tokyo Institute Of Technology
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Takeda Yukio
Tokyo Institute Of Technology
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Horie M
Precision And Intelligence Laboratory Tokyo Institute Of Technology
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FUNABASHI Hiroaki
Tokyo Institute of Technology
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YOSHINO Takahiro
Nissan Motor Co., Ltd.
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Funabashi H
Tokyo Institute Of Technology
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Yoshino Takahiro
Nissan Motor Co. Ltd.
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Funabashi Hiroaki
Tokyo Institute Of Techinology
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