Scalable self-reconfiguration of an M-TRAN modular robotic system is presented herein. Possible configurations are restricted to those of a symmetric planar type, which are made by an arbitrary number of M-TRAN modules. A logical model of such configurations is made in which each module is represented as a square cell, where self-reconfiguration is represented by cooperative motions of two neighbor cells. Based on the concept, programs for simulations and experiments were developed. Experiments of simple self-reconfigurations using local communication between modules by infrared light were successful.
CITATION STYLE
Kurokawa, H., Tomita, K., Kamimura, A., & Murata, S. (2009). Toward flexible and scalable self-reconfiguration of M-TRAN. In Distributed Autonomous Robotic Systems 8 (pp. 405–416). Springer Publishing Company. https://doi.org/10.1007/978-3-642-00644-9_36
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