DocumentCode :
2050742
Title :
Self-reconfigurable modular robot - experiments on reconfiguration and locomotion
Author :
Kamimura, Akja ; Murata, Satoshi ; Yoshida, Eiichi ; Kurokawa, Haruhisa ; Tomita, K. ; Kokaji, Shiga
Author_Institution :
Intelligent Syst. Inst., AIST, Tsukuba, Japan
Volume :
1
fYear :
2001
fDate :
2001
Firstpage :
606
Abstract :
We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building a static structure, but also generating a dynamic robotic motion. We have also developed a simulator for the motion planning. In this paper, we present details of the mechanical and electrical designs of the developed module and its control system architecture. Experiments using ten modules demonstrate the robotic configuration change, crawling locomotion and three types of quadruped locomotion
Keywords :
legged locomotion; motion control; path planning; robot dynamics; self-adjusting systems; crawling locomotion; dynamics; modular robot; motion planning; quadruped locomotion; self-reconfigurable robotic module; Algorithm design and analysis; Control systems; Crystallization; Distributed algorithms; Distributed control; Permanent magnets; Power supplies; Robotics and automation; Robots; Shape;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
Type :
conf
DOI :
10.1109/IROS.2001.973422
Filename :
973422
Link To Document :
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