Volume 27 Issue 3-4 - Publication Date: 1 March 2008
Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System
Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Shigeru Kokaji Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564, Japan, Takashi Hasuo Graduate School of Systems and Information Engineering at University of Tsukuba, and Satoshi Murata Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology
A new prototype of a self-reconfigurable modular robot, M-TRAN III, has been developed, with an improved fast and rigid connection mechanism. Using a distributed controller, various control modes are possible: single-master, globally synchronous control or parallel asynchronous control. Self-reconfiguration experiments using up to 24 modules were undertaken by centralized or decentralized control. Experiments using decentralized control examined a modular structure moved in a given direction as a flow produced by local selfreconfigurations. In all experiments, system homogeneity and scalability were maintained: modules used identical software except for their ID numbers. Identical self-reconfiguration was realized when different modules were used in initial configurations.
Multimedia Key
= Video = Data = Code = Image
Example 1: Self-reconfiguration experiment using 10 modules controlled by a single master. (2.3 MB) wmv
Example 2: Self-reconfiguration experiment by a single master control. A linear structure made of 8 modules climbed a step. The step was not detected by sensors and the whole motion control was open-loop with predefined trajectory. (2.5 MB) wmv
Example 3: A linear structure made of 16 modules moved forward. All the modules have the same program and worked in parallel as masters or slaves. (1.3 MB) wmv
Example 4: A mesh structure made of 24 (and 20) modules moved forward conducted by multi-master modules. Surface connections were changed more than 300 times during a 15-min experiment. (1.8 MB) wmv
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