M-TRAN II: Metamorphosis from a four-legged walker to a caterpillar
- 8 July 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2454-2459 vol.3
- https://doi.org/10.1109/iros.2003.1249238
Abstract
We have been developing a self-reconfigurable modular robotic system (M-TRAN) which can make various 3-D configurations and motions. In the second prototype (M-TRAN II), various improvements are integrated in order to realize complicated reconfigurations and versatile whole body motions. Those are a reliable connection/detachment mechanism, on-board multi-computers, high speed inter-module communication system, low power consumption, precise motor control, etc. Programing environments are also integrated to design self-reconfiguration processes, to verify motions in dynamics simulation, and to realize distributed control on the hardware. Hardware design, developed software and experiments are presented in this paper.Keywords
This publication has 14 references indexed in Scilit:
- Automatic locomotion pattern generation for modular robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Generic decentralized control for a class of self-reconfigurable robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Connecting and disconnecting for chain self-reconfiguration with PolyBotIEEE/ASME Transactions on Mechatronics, 2002
- The Conro modules for reconfigurable robotsIEEE/ASME Transactions on Mechatronics, 2002
- A motion planning method for a self-reconfigurable modular robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Motion simulation of a modular robotic systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion PlanningAutonomous Robots, 2001
- Self-assembly and self-repair method for a distributed mechanical systemIEEE Transactions on Robotics and Automation, 1999
- I(CES)-cubes: a modular self-reconfigurable bipartite robotic systemPublished by SPIE-Intl Soc Optical Eng ,1999
- Internally-balanced magnet unitAdvanced Robotics, 1986