Self-reconfigurable modular robot (M-TRAN) and its motion design

Author

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

Author_Institution

Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan

Volume

1

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

51

Abstract

We have developed a modular robotic system (M-TRAN), which can change its configuration by itself. By using many DOFs of mechanism and self-reconfiguration capability, it can realize several types of motion, and can make various configurations. We have made two models of the system (M-TRAN I & II). In M-TRAN II, various improvements are integrated such as onboard multi-computers, reliable inter-module communication system, low power consumption, precise motor control, etc. Its hardware design, basic experiments and examples of motion are presented in this paper.

Keywords

mobile robots; robot kinematics; self-adjusting systems; intermodule communication system; modular robotic system; motion design; nodular transformer; onboard multicomputer; self reconfiguration capability; Communication system control; Control systems; Energy consumption; Hardware; Legged locomotion; Magnets; Motor drives; Power system modeling; Power system reliability; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1234789

Filename

1234789