Self-Organizing Collective Robots with Morphogenesis in a Vertical Plane
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概要
- 論文の詳細を見る
This paper presents a novel concept of self-organizing collective robots with morphogenesis in a vertical plane.For physical reconfiguration of a swarm of robots against gravity, new types of mechanisms and control strategies are proposed and demonstrated.Basic feasibility of the mechanisms was confirmed through an experiment adopting four prototype robots.Each robot is composed of a body and a pair of arms.The body is equipped with permanent magnets for bonding with another robot.The arms change the bonding configuration by rotating and sliding motions.As for the control strategies, we proposed algorithms which can generate specific global formations of robots from local and minimum interactions between neighboring robots.It is shown that the proposed algorithms can successfully conduct the swarm of robots to the predetermined configurations.
- 一般社団法人日本機械学会の論文
- 1999-03-15
著者
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Fujii Teruo
Iis University Of Tokyo Komaba Research Campus
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Endo Isao
Riken : The Institute Of Physical And Chemical Research
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Asama Hajime
Race University Of Tokyo
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Asama H
Inst. Physical And Chemical Res. Jpn
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Asama Hajime
Department Of Precision Engineering University Of Tokyo
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Asama Hajime
The Physical And Chemical Research Institute
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Asama Hajime
The Institute Of Physical And Chemical Research (riken)
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Kaetsu Hayato
Riken : The Institute Of Physical And Chemical Research
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Kaetsu Hayato
The Institute Of Physical And Chemical Research (riken)
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Kuroda Yoji
Meiji University
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HOSOKAWA Kazuo
The Institute of Physical and Chemical Research (RIKEN)
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FUJII Teruo
The Institute of Physical and Chemical Research (RIKEN)
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ENDO Isao
The Institute of Physical and Chemical Research (RIKEN)
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KAETSU Hayato
The Institute of Physical and Chemical Research
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