Hormone-controlled metamorphic robots
- 13 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729) , 4194-4199
- https://doi.org/10.1109/robot.2001.933273
Abstract
Metamorphic robots with shape-changing capabilities provide a powerful and flexible approach to complex tasks in unstructured environments. However, due to their dynamic topology and decentralized configuration, metamorphic robots demand control mechanisms that go beyond those used by conventional robots. This paper builds on our previous results of hormone-based control, and develops a novel distributed control algorithm called CELL that can select, synchronize, and execute gaits and other reconfiguration actions without assuming any global configuration knowledge. This algorithm is flexible enough to deal with changes of configuration, and can resolve conflicts between locally selected actions and manage multiple active hormones for producing coherent global effects.Keywords
This publication has 9 references indexed in Scilit:
- Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The self-reconfiguring robotic moleculePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A 3-D self-reconfigurable structurePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Distributed formation control for a modular mechanical systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Dynamic rolling, locomotion planning, and control of an icosahedral modular robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Multiagent control of self-reconfigurable robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Hormone-based control for self-reconfigurable robotsPublished by Association for Computing Machinery (ACM) ,2000
- Useful metrics for modular robot motion planningIEEE Transactions on Robotics and Automation, 1997
- Time and time again: The many ways to represent timeInternational Journal of Intelligent Systems, 1991