Hardware and software

Satoshi Murata, Haruhisa Kurokawa

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


In this chapter, we discuss the practical aspects of hardware and software designs of the M-TRAN system. In principle, behavior of lattice-type modular robots like M-TRAN can be understood to some extent without any physical experiments, instead investigating the algorithm itself, or making computer simulations. Also, motion control of a robot can be investigated without a real machine, if precise dynamics of the robot is modeled. However, methods and algorithms established on abstract models are meaningless unless they are physically realized as real robots and machines. When building a self-organizing mechanical system, we need to consider various issues of many different areas such as mechanical engineering, control engineering, robotics, and systems engineering. In this chapter, we introduce topics we studied while building the M-TRAN system.

Original languageEnglish
Title of host publicationSelf-Organizing Robots
Number of pages23
Publication statusPublished - 2012

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


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