Abstract
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.
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Kurokawa, H., Tomita, K., Kamimura, A., Murata, S. (2009). Toward Flexible and Scalable Self-reconfiguration of M-TRAN. 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_36
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DOI: https://doi.org/10.1007/978-3-642-00644-9_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00643-2
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