Self-organization of motion

Satoshi Murata, Haruhisa Kurokawa

Research output: Chapter in Book/Report/Conference proceedingChapter


In contrast with lattice-type modular robots capable of self-reconfiguration, chain-type modular robots are made for flexible motions, exploiting their multiple degrees of freedom. Motion control is one of the major areas of robotics, and knowledge accumulated through years of experience is applicable to chain type modular robots. Most of such knowledge and methods, however, are suited to a centralized controller based on a complete and precise model. In this chapter, we explore a way to design distributed motion control for modular robots. We start with building a homogeneous distributed control system applicable to any robot configuration. The system then is optimized accordingly to each specific robot configuration.

Original languageEnglish
Title of host publicationSelf-Organizing Robots
Number of pages37
Publication statusPublished - 2012

Publication series

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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