Distributed self-reconfiguration control of modular robot M-TRAN

Author

Kurokawa, Haruhisa ; Tomita, Kohji ; Kamimura, Akiya ; Yoshida, Eiichi ; Kokaji, Shigeru ; Murata, Satoshi

Author_Institution

Intelligent Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan

Volume

1

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

254

Abstract

Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.

Keywords

control system synthesis; decentralised control; distributed control; multi-threading; robots; self-adjusting systems; sequences; M-TRAN; asynchronous control; decentralized control; distributed self-reconfiguration control; geometric self-reconfiguration sequences; modular robot; multithread type simulation program; Centralized control; Communication system control; Control systems; Distributed control; Hardware; Intelligent robots; Kinematics; Prototypes; Robot control; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626556

Filename

1626556