Self-organizing collective robots with morphogenesis in a vertical plane

被引：0

作者：

Hosokawa, K ^{[1
]}

Tsujimori, T ^{[1
]}

Fujii, T ^{[1
]}

Kaetsu, H ^{[1
]}

Asama, H ^{[1
]}

Kuroda, Y ^{[1
]}

Endo, I ^{[1
]}

机构：

[1] RIKEN, Inst Phys & Chem Res, Wako, Saitama 35101, Japan

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel concept of self-organizing collective robots with morphogenesis in a vertical plane. It is potentially applicable to autonomous mobile robots. For physical reconfiguration of a swarm of robots against gravity, new types of mechanisms and control strategies are proposed and demonstrated. Prototype robots have been fabricated in order to confirm the basic feasibility of the mechanisms. Each robot is composed of a body and a pair of arms. The body can be regarded as a cube with edge length of 90 mm, and is equipped with permanent magnets for bonding with another robot. The arms change the bonding configuration by rotating and sliding motions. As for the control strategies, we proposed algorithms which can generate specific global formations of robots from local, minimum interactions between neighboring robots. The overall scheme is similar to cellular automata. Proposed control algorithms have been tested by simulations.

引用

页码：2858 / 2863

页数：2