Abstract
Metamorphosis by a self-reconfigurable modular robot is presented in this report. We have developed a new prototype, “M-TRAN III”, which is improved in its high speed and rigid connection mechanism. Using its integrated design of a multi-CPU controller with various programming tools, experiments of self-reconfiguration were successfully carried out through single master synchronous control. Based on the obtained results, decentralized and locally synchronous control was accomplished, which controlled self-reconfiguration of up to 20 modules using the same program.
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© 2006 Springer-Verlag Tokyo
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Kurokawa, H., Tomita, K., Kamimura, A., Murata, S., Terada, Y., Kokaji, S. (2006). Distributed Metamorphosis Control of a Modular Robotic System M-TRAN. In: Gini, M., Voyles, R. (eds) Distributed Autonomous Robotic Systems 7. Springer, Tokyo. https://doi.org/10.1007/4-431-35881-1_12
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DOI: https://doi.org/10.1007/4-431-35881-1_12
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35878-7
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