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Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots

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Abstract

This paper deals with the essential technique for self-organizing metamorphosis of self-reconfigurable robots. A general model describing self-reconfigurable robots is proposed; the model is capable of expressing the topological structure of typical 2-D and 3-D self-reconfigurable robots. Afterwards, a self-organizing metamorphic strategy of self-reconfigurable robots, based on full-discrete local intelligence, is proposed. The modules concurrently process the local interactive information. A reasonable motion sequence for modules can be obtained by means of determining and evolving the rules of modules motion. Consequently, the global self-organizing behavior will be obtained, and the complexity of the algorithm is reduced. Simulation samples are provided to illustrate this approach and demonstrate the effectiveness of the proposed strategy.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200030, P. R. of China

    Wei Xu, Shi-Gang Wang, An-Lin Wang & Guo-Bao Wang

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  1. Wei Xu
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  2. Shi-Gang Wang
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  3. An-Lin Wang
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  4. Guo-Bao Wang
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Xu, W., Wang, SG., Wang, AL. et al. Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots. Journal of Intelligent and Robotic Systems 37, 415–425 (2003). https://doi.org/10.1023/A:1026198500589

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