TY - GEN
T1 - Distributed metamorphosis control of a modular robotic system M-TRAN
AU - Kurokawa, Haruhisa
AU - Tomita, Kohji
AU - Kamimura, Akiya
AU - Murata, Satoshi
AU - Terada, Yuzuru
AU - Kokaji, Shigeru
PY - 2006
Y1 - 2006
N2 - Metamorphosis by a self-reconfigurable modular robot is presented in this report. We have developed a new prototype, "M-TRAN III", which is improved in its high speed and rigid connection mechanism. Using its integrated design of a multi-CPU controller with various programming tools, experiments of self-reconfiguration were successfully carried out through single master synchronous control. Based on the obtained results, decentralized and locally synchronous control was accomplished, which controlled self-reconfiguration of up to 20 modules using the same program.
AB - Metamorphosis by a self-reconfigurable modular robot is presented in this report. We have developed a new prototype, "M-TRAN III", which is improved in its high speed and rigid connection mechanism. Using its integrated design of a multi-CPU controller with various programming tools, experiments of self-reconfiguration were successfully carried out through single master synchronous control. Based on the obtained results, decentralized and locally synchronous control was accomplished, which controlled self-reconfiguration of up to 20 modules using the same program.
UR - http://www.scopus.com/inward/record.url?scp=40049111393&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=40049111393&partnerID=8YFLogxK
U2 - 10.1007/4-431-35881-1_12
DO - 10.1007/4-431-35881-1_12
M3 - Conference contribution
AN - SCOPUS:40049111393
SN - 4431358781
SN - 9784431358787
T3 - Distributed Autonomous Robotic Systems 7
SP - 115
EP - 124
BT - Distributed Autonomous Robotic Systems 7
PB - Springer Publishing Company
T2 - 8th Symposium on Distributed Autonomous Robotic Systems, DARS 2008
Y2 - 12 July 2006 through 14 July 2006
ER -