Open AccessSelf-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure: Algorithm for Adaptive Transformation to Load Condition
Author(s) -
Yosuke Suzuki,
Norio INOU,
Hitoshi Kimura,
Michihiko KOSEKI
Publication year - 2011
Publication title -
journal of robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.303
H-Index - 14
eISSN - 1687-9619
pISSN - 1687-9600
DOI - 10.1155/2011/794251
Subject(s) - modular design , self reconfiguring modular robot , computer science , robot , control reconfiguration , transformation (genetics) , construct (python library) , algorithm , simple (philosophy) , robot control , embedded system , mobile robot , artificial intelligence , biochemistry , chemistry , philosophy , epistemology , programming language , gene , operating system
Self-reconfigurable modular robots are composed of modules which are able to autonomously change the way they are connected. An appropriate control algorithm enables the modular robots to change their shape in order to adapt to their immediate environment. In this paper, we propose an algorithm for adaptive transformation to load condition of the modular robots. The algorithm is based on a simple idea that modules have tendency to gather around stress-concentrated parts and reinforce the parts. As a result of the self-reconfiguration rule, the modular robots form an appropriate structure to stand for the load condition. Applying the algorithm to our modular robot named “CHOBIE II,” we show by computer simulation that the modules are able to construct a cantilever structure with avoiding overstressed states
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