2A1-B08 適応的形態変形を可能とするモジュラーロボットの実機検証

概要

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This paper discusses experimental verifications of a two-dimensional modular robot called "Slimebot", consisting of many identical modules, each of which has simple motile functions. We have so far investigated a fully decentralized algorithm able to control the morphology of the modular robot in realtime according to the environment encountered. One of the most significant features of our approach is that we explicitly exploit "emergent phenomena" stemming from the interplay between control and mechanical systems. In order to verify our proposed control scheme, we have constructed real physical Slimebot. Experiments with 10 modules suggest that this robot exhibits significant abilities, i.e., adaptivity, scalability, and fault tolerance without any global information.
一般社団法人日本機械学会の論文
2009-05-25