Study of Group Robots Adaptively Forming a Mechanical Structure : Information-Processing Functions of the Cellular Robot Required for Transporting a Load to an Opposite Side

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概要

• 論文の詳細を見る

• This study deals with autonomous distributed robots that are able to adaptively construct a structure in response to a loading condition. The simulation consists of identical components (cellular robots). Each cellular robot has functions for sensing, communication and motion. In this paper, we discuss the following situation. There is a gap on the ground. A moving load lies at one side but cannot reach the opposite side. The mission of the cellular robots is to help the moving load pass over the gap by forming a bridge-like mechanical structure. After finishing the mission, they must return to their original place. We examined the information processing required of the cellular robots to execute the mission and proposed algorithms based on local rules. Using these algorithms, we simulated the group behavior of the cellular robots on a computer and demonstrated validity.

• 一般社団法人日本機械学会の論文
• 2000-03-15

著者

• Ogawa Hiroshi

  Tokyo Wemen's Medical University

• Inou Norio

  Department Of Mechanical And Control Engineering Tokyo Institute Of Technology

• Ujihashi S

  Tokyo Institute Of Technology Department Of Mechanical And Environmental Inforamtics

• Ujihashi Sadayuki

  Tokyo Institute Of Technology

• INOU Norio

  Tokyo Institute of Technology, Department of Mechanical and Environmental Informatics

• SHIMOTAI Naoko

  Canon Corporation

• FUKUSHIMA Shigeki

  Tokyo Institute of Technology, Department of Mechanicaland Environmental Inforamtics

• Ogawa Hiroshi

  Tokyo Institute Of Technology Department Of Mechanicaland Environmental Inforamtics

• Fukushima Shigeki

  Tokyo Institute of Technology, Department of Mechanical and Environmental Inforamtics

• INOU Norio

  Tokyo Institute of Technology, Department of Mechanical and Control Engineering

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