Distributed formation control for a modular mechanical system

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

Research output: Contribution to conferencePaperpeer-review

37 Citations (Scopus)

Abstract

A distributed formation control method is proposed for a modular mechanical system. We have developed a totally decentralized system composed of many homogeneous mechanical units which are designed to change their connective configuration using only local information. The control method proposed in this paper enables the system to re-organize themselves so that various configurations can be formed in a robust way. Computer simulations and experiments are carried out to show its effectiveness.

Original languageEnglish
Pages1090-1097
Number of pages8
Publication statusPublished - 1997
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
Duration: 1998 Sept 71998 Sept 11

Conference

ConferenceProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
CityGrenoble, Fr
Period98/9/798/9/11

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