Multi-agent control system for the symmetric body robot

This paper describes a multi-agent control system for autonomous robots, especially, for the symmetric body robot (SBR). The SBR has several interesting characteristics: it has five symmetrical arms, each of them is driven twenty SMA-coils; and each of the five arms has an independent control board on the root of them. The SBR is completely symmetrical as far as detailed components. It has a high degree of freedom for changing its own body. For controlling the robot behaviors, we consider not only to create suitable action selection mechanisms, but also to study its physical body and the effect of changing its body shape. This paper shows some experiments of the autonomous robot that has the ability to change its own body shape actively