Research on Self-Reconfigurable Modular Robot System : Experiments on Reconfiguration and Locomotion with Several Modules
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概要
- 論文の詳細を見る
Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the devel- oped module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.
- 一般社団法人日本機械学会の論文
- 2003-12-15
著者
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Murata Satoshi
Department Of Computational Intelligence And Systems Science Interdisciplinary Graduate School Of Sc
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Kokaji Shigeru
Distributed System Design Research Group Intelligent Systems Institute Aist
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Yoshida Eiichi
Distributed System Design Research Group Intelligent Systems Institute Aist
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KAMIMURA Akiya
Distributed System Design Research Group, Intelligent Systems Institute, AIST
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KUROKAWA Haruhisa
Distributed System Design Research Group, Intelligent Systems Institute, AIST
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TOMITA Kohji
Distributed System Design Research Group, Intelligent Systems Institute, AIST
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Tomita Kohji
Distributed System Design Research Group Intelligent Systems Institute Aist
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Kamimura Akiya
Distributed System Design Research Group Intelligent Systems Institute Aist
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Kurokawa Haruhisa
Distributed System Design Research Group Intelligent Systems Institute Aist
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Murata Satoshi
Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University
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MURATA SATOSHI
Department of Agricultural Engineering, Kyushu University
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