Research on Automatic Locomotion Pattern Generation for Modular Robots

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

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Locomotion, one of the most basic robotic functions, has been widely studied for several types of robots. As for self-reconfigurable modular robots, there are two types of locomotion; one type is realized as a series of self-reconfiguration and the other is realized as a whole body motion such as walking and crawling. Even for the latter type of locomotion, designing control method is more difficult than ordinary robots. This is because the module configuration has many degrees of freedom and there are a wide variety of possible configurations. We propose an offline method to generate a locomotion pattern automatically for a modular robot in an arbitrary configuration, which utilizes a neural oscillator as a controller of the joint motor and evolutionary computation method for optimization of the neural oscillator network, which determines the performance of locomotion. We confirm the validity of the method by software simulation and hardware experiments.

Original languageEnglish
Pages (from-to)459-466
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number2
Publication statusPublished - 2004 Feb
Externally publishedYes


  • CPG
  • Genetic Algorithm
  • Locomotion
  • Mechatronics and Robotics
  • Modular Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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