Toward a scalable modular robotic system

Satoshi Murata; Kiyoharu Kakomura; Haruhisa Kurokawa

doi:10.1109/M-RA.2007.908984

Toward a scalable modular robotic system

Satoshi Murata, Kiyoharu Kakomura, Haruhisa Kurokawa

Research output: Contribution to journal › Article › peer-review

50 Citations (Scopus)

Abstract

A simple docking method has been proposed with the use of an onboard camera module which has two key ideas. First, it has an image processing that uses a camera module and LEDs that are equipped on the modules. Second, it has a special modular configuration that is designed for docking which absorbs positional errors. A self-reconfiguration sequence was also designed to integrate a docked robot into a periodic structure. Lastly, an examination was done to test the effectiveness of the proposed method by docking/integration experiments with 18 modules.

Original language	English
Pages (from-to)	56-63
Number of pages	8
Journal	IEEE Robotics and Automation Magazine
Volume	14
Issue number	4
DOIs	https://doi.org/10.1109/M-RA.2007.908984
Publication status	Published - 2007 Dec
Externally published	Yes

Keywords

M-TRAN
Modular robot
Scalability
Self-reconfiguration
Visual feedback

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/M-RA.2007.908984

Cite this

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KW - Scalability

KW - Self-reconfiguration

KW - Visual feedback

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Toward a scalable modular robotic system

Abstract

Keywords

ASJC Scopus subject areas

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