Group robots forming a mechanical structure-development of slide motion mechanism and estimation of energy consumption of the structural formation

Author

Inou, Norio ; Minami, Kazuyuki ; Koseki, Michihiko

Author_Institution

Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan

Volume

2

fYear

2003

fDate

16-20 July 2003

Firstpage

874

Abstract

This study deals with group robots forming a mechanical structure. The group robots consist of identical cellular robots with same mechanical structure and information processing. To realize the group robots in hardware, we propose a slide motion mechanism that supports a large mechanical loading. We report the performance test, and energy consumption required for transformation of the cellular robot under various configurations. This paper also discusses the shortest route with minimum energy in transformation when an initial configuration and a final one are given.

Keywords

motion control; multi-robot systems; power consumption; variable structure systems; cellular robots transformation; energy consumption estimation; group robots; information processing; mechanical loading; mechanical structure; mobile robots; performance test; slide motion mechanism; structural formation; Concrete; Control engineering; Energy consumption; Hardware; Information processing; Mobile robots; Motion estimation; Orbital robotics; Testing; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222295

Filename

1222295