2A1-E12 自己組み立て・自己修復を行う群ロボットの開発

概要

論文の詳細を見る
One of the most graceful phenomena widely observed in nature is self-assembly ; living systems spontaneously assemble their body structure through the developmental process. While this remarkable phenomenon still remains much to be understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of self-assembly with the use of a multi-robot system. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, in principle, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm.
一般社団法人日本機械学会の論文
2009-05-25