Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations -

This study deals with a control method of a modular robotic system ldquoCHOBIE II.rdquo Our purpose is to realize a function that CHOBIE II forms a self-reconfigurable structure adaptively to mechanical environments. In the previous paper, we introduced a method to express criteria for generating transformations. A criterion is regulated by 32 parameters corresponding to 32 kinds of local shapes on contour of the structure. According to the criterion, CHOBIE II can dissolve undesirable local shapes and transform to goal configurations. In this paper, we propose a method to realize load-adaptive motion extending the criterion. Specifically, we add two new criteria to induce desirable local shapes and to change priorities of motions depending on a load condition. We show the availability of the method by simulation results that the modular robots construct a cantilever structure avoiding overstressed states.