Distributed self-reconfiguration control of modular robot M-TRAN

Haruhisa Kurokawa; Kohji Tomita; Akiya Kamimura; Eiichi Yoshida; Shigeru Kokaji; Satoshi Murata

Distributed self-reconfiguration control of modular robot M-TRAN

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

ENG - Robotics

National Institute of Advanced Industrial Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

24 Citations (Scopus)

Abstract

Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.

Original language	English
Title of host publication	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages	254-259
Number of pages	6
Publication status	Published - 2005
Event	IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada Duration: 2005 Jul 29 → 2005 Aug 1

Publication series

Name	IEEE International Conference on Mechatronics and Automation, ICMA 2005

Conference

Conference	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Country/Territory	Canada
City	Niagara Falls, ON
Period	05/7/29 → 05/8/1

Keywords

Distributed autonomous system
Self-reconfiguration

Cite this

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title = "Distributed self-reconfiguration control of modular robot M-TRAN",

abstract = "Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.",

keywords = "Distributed autonomous system, Self-reconfiguration",

author = "Haruhisa Kurokawa and Kohji Tomita and Akiya Kamimura and Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata",

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Kurokawa, H, Tomita, K, Kamimura, A, Yoshida, E, Kokaji, S & Murata, S 2005, Distributed self-reconfiguration control of modular robot M-TRAN. in IEEE International Conference on Mechatronics and Automation, ICMA 2005. IEEE International Conference on Mechatronics and Automation, ICMA 2005, pp. 254-259, IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, Canada, 05/7/29.

Distributed self-reconfiguration control of modular robot M-TRAN. / Kurokawa, Haruhisa; Tomita, Kohji; Kamimura, Akiya et al.
IEEE International Conference on Mechatronics and Automation, ICMA 2005. 2005. p. 254-259 (IEEE International Conference on Mechatronics and Automation, ICMA 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed self-reconfiguration control of modular robot M-TRAN

AU - Kurokawa, Haruhisa

AU - Tomita, Kohji

AU - Kamimura, Akiya

AU - Yoshida, Eiichi

AU - Kokaji, Shigeru

AU - Murata, Satoshi

PY - 2005

Y1 - 2005

N2 - Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.

AB - Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.

KW - Distributed autonomous system

KW - Self-reconfiguration

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M3 - Conference contribution

AN - SCOPUS:27744561745

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T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

SP - 254

EP - 259

BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005

T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

Y2 - 29 July 2005 through 1 August 2005

ER -

Distributed self-reconfiguration control of modular robot M-TRAN

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Keywords

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