Abstract
This study describes a group robotic system “CHOBIE II.” The feature of CHOBIE II is a function to form a self-reconfigurable structure. We focus on a motion planning method to obtain control algorithms. For this purpose, we introduce a numerical criterion for generating transformations. The criterion is expressed with a matrix form of 32 parameters. The criteria facilitate implementation of various motions of CHOBIE II, not requiring a high information processing unit. We demonstrate two types of transformations of CHOBIE II with the numerical expression. It is confirmed that the proposed method has advantages of simplification and downsizing of control algorithms of the modules.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Akiya, K., Haruhisa, K., Eiichi, Y., Satoshi, M., Kohji, T., Shigeru, K.: Automatic Locomotion Design and Experiments for a Modular Robotic System. IEEE/ASME Transactions on Mechatronics 10(3), 314–325 (2005)
David, B.: Comparison of A* and RRT-Connect Motion Planning Techniques for Self-Reconfigurable Planning. In: Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 892–897 (2006)
Eiichi, Y., Haruhisa, K., Akiya, K., Satoshi, M., Kohji, T., Shigeru, K.: Planning Behaviors of Modular Robots with Coherent Structure using Randomized Method. In: Proc. of the 7th International Symposium on Distributed Autonomous Robotic Systems (DARS 2004), pp. 2056–2061 (2004)
Morten, W.J., Esben, H.O., Henrik, H.L.: Modular ATRON: Modules for a self-reconfigurable robot. In: Proc. of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp. 2068–2073 (2004)
Yim, M., Zhang, Y., Duff, D.: Modular Robots. IEEE Spectrum (2002)
Daniela, R., Zack, B., Keith, K., Marsette, V.: Self-reconfiguring Robots. Communications of the ACM 45(3) (2002)
Michihiko, K., Kengo, M., Norio, N.: Cellular Robots Forming a Mechanical Structure – Evaluation of structural formation and hardware design of “CHOBIE II”. In: Proc. Of 7th International Symposium on Distributed Autonomous Robotic Systems (DARS 2004), pp. 131–140 (2004)
Yosuke, S., Norio, I., Hitoshi, K., Michihiko, K.: Reconfigurable group robots adaptively transforming a mechanical structure – Crawl motion and adaptive transformation with new algorithms. In: Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp. 2200–2205 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Suzuki, Y., Inou, N., Koseki, M., Kimura, H. (2009). Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure (Numerical Expression of Transformation Criteria of “CHOBIE II” and Motion Experiments). In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_35
Download citation
DOI: https://doi.org/10.1007/978-3-642-00644-9_35
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00643-2
Online ISBN: 978-3-642-00644-9
eBook Packages: EngineeringEngineering (R0)