Self-reconfigurable M-TRAN structures and walker generation

被引：43
作者：
Kurokawa, H
Yoshida, E
Tomita, K
Kamimura, A
Murata, S
Kokaji, S
机构：
[1] AIST, Tsukuba, Ibaraki 3058564, Japan
[2] Tokyo Inst Technol, Midori Ku, Yokohama, Kanagawa 2268502, Japan
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 02期
关键词：
modular robot; autonomous distributed system; self-reconfiguration; metamorphosis;
D O I：
10.1016/j.robot.2005.09.023
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration and whole body locomotion. Introducing regularity in allowed structures reduced difficulties of its reconfiguration problems. Several locomotion patterns in various structures were designed systematically using a CPG controller model and GA optimization. Then they were verified by experimentation. Results showed a feasible scenario of operation with multiple M-TRAN modules, which is presented herein, including metamorphosis of a regular structure, generation of walkers from the structure, walker locomotion, and reassembling of walkers to the structure. (c) 2005 Elsevier B.V. All rights reserved.
引用
收藏
页码：142 / 149
页数：8
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