Title :
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
fDate :
29 July-1 Aug. 2005
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;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626556
