Title :
A study of the indefinite shaped mobile mechanism composed of multi-unit
Author :
Tokashiki, Hiroki ; Shimizu, Kaori
Author_Institution :
Dept. of Inf. Eng., Ryukyus Univ., Okinawa, Japan
Abstract :
We propose and develop an indefinite shaped mobile mechanism, which enables the invasion of narrow spaces. The mechanism consists of a swarm of multiple gear type units, which have simple function and structure. A simple rotary motion of each unit is transformed to a motion of a swarm of units. We confirmed the mobile principle of our proposed method by a simulation, and made a prototype. We describe the result of the basic mobile experiment of proposed mechanism.
Keywords :
digital simulation; mobile robots; multi-robot systems; indefinite shaped mobile mechanism; invasion; multiple gear type units; narrow space; simple rotary motion; swarm; Gears; Inspection; Leg; Legged locomotion; Mesons; Mobile robots; Organisms; Research and development; Virtual prototyping; Wheels;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2001. Proceedings 2001 IEEE International Symposium on
Print_ISBN :
0-7803-7203-4
DOI :
10.1109/CIRA.2001.1013175
