TY - GEN
T1 - Self-Reconfigurable Modular Robot (M-TRAN) and its Motion Design
AU - Kurokawa, Haruhisa
AU - Kamimura, Akiya
AU - Yoshida, Eiichi
AU - Tomita, Kohji
AU - Murata, Satoshi
AU - Kokaji, Shigeru
PY - 2002
Y1 - 2002
N2 - We have developed a modular robotic system (M-TRAN) which can change its configuration by itself. By using many DOFs of mechanism and self-reconfiguration capability, it can realize several types of motion, and can make various configurations. We have made two models of the system (M-TRAN I & II). In M-TRAN II, various improvements are integrated such as onboard multi-computers, reliable inter-module communication system, low power consumption, precise motor control, etc. Its hardware design, basic experiments and examples of motion are presented in this paper.
AB - We have developed a modular robotic system (M-TRAN) which can change its configuration by itself. By using many DOFs of mechanism and self-reconfiguration capability, it can realize several types of motion, and can make various configurations. We have made two models of the system (M-TRAN I & II). In M-TRAN II, various improvements are integrated such as onboard multi-computers, reliable inter-module communication system, low power consumption, precise motor control, etc. Its hardware design, basic experiments and examples of motion are presented in this paper.
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M3 - Conference contribution
AN - SCOPUS:2342564456
SN - 9810474806
T3 - Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
SP - 51
EP - 56
BT - Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
T2 - Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Y2 - 2 December 2002 through 5 December 2002
ER -