A distributed method for reconfiguration of a three-dimensional homogeneous structure

Echi Yoshida, Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita, Shigeru Kokaji

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


A distributed reconfiguration method is proposed for a theree-dimensional reconfigurable structure, composed of many identical mechanical units. The method aims to enable the structure to transform itself into a desired structure from an arbitrary initial configuration. The proposedmethod is implemented in such a way that each unit has identical software as well as hardware, so that any unit can play any role in the system. It is also featured by a stochastic relaxation process, which allows the system to converge to a given target structure by searching for a properunit motion over many degrees of freedom. Furthermore, the method is extended for the structure to reconfigure itself dynamically according to the environment. The effectiveness of the method is confirmed by computer simulations.

Original languageEnglish
Pages (from-to)363-379
Number of pages17
JournalAdvanced Robotics
Issue number4
Publication statusPublished - 1998 Jan 1


  • Distributed algorithm
  • Modular robots
  • Three-dimensional self-reconfigurable structure


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