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Self Organization of a Mechanical System

  • Conference paper
Distributed Autonomous Robotic Systems

Abstract

A design method is discussed for a mechanical system which is composed of homogeneous units. Two examples of the system, Fractal Machine and Fractum Machine are introduced. Fractal Machine is composed of variable length links and it can move on a plane. When it is decomposed into several subsystems, each subsystem still hold the capability to move as each of subsystems reorganizes itself. Fractum Machine is composed of units which can change their connection autonomously. It can change its form to construct a target configuration, starting from a random pattern at the beginning. A general scheme for designing this type of mechanical system is discussed and the idea of micro-rules and a global index is proposed.

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References

  1. G. Beni, S. Hackwood, Coherent swarm motion under distributed control, Proc. DARS, Wako, Japan, 1992, pp.39–52.

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  4. S. Murata, H. Kurokawa, S. Kokaji, Self-Assembling Machine, Proc. IEEE. Int. Conf. Robotics and Automation, San Diego, 1994, pp.441–448.

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Author information

Authors and Affiliations

  1. Mechanical Eng. Laboratory, AIST, MITI, Tsukuba, 305, Japan

    Shigeru Kokaji, Satoshi Murata & Haruhisa Kurokawa

Authors
  1. Shigeru Kokaji
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  2. Satoshi Murata
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  3. Haruhisa Kurokawa
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Editor information

Editors and Affiliations

  1. The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, 351-01, Wako, Saitama, Japan

    Hajime Asama (Research Scientist) & Isao Endo (Chief Researcher) (Research Scientist) &  (Chief Researcher)

  2. Department of Mechano-Informaatics and Systems, Nagoya University, Furo, 464-01, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  3. Department of Precision Machinery Engineering, University of Tokyo, 7-3-1 Hongo, 113, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

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© 1994 Springer-Verlag Tokyo

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Cite this paper

Kokaji, S., Murata, S., Kurokawa, H. (1994). Self Organization of a Mechanical System. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_21

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  • DOI: https://doi.org/10.1007/978-4-431-68275-2_21

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-68277-6

  • Online ISBN: 978-4-431-68275-2

  • eBook Packages: Springer Book Archive

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