Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System

Authors:
Haruhisa Kurokawa;Kohji Tomita;Akiya Kamimura;Shigeru Kokaji;Takashi Hasuo;Satoshi Murata
Affiliations:
Intelligent Systems Research Institute National Instituteof Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564,Japan;Intelligent Systems Research Institute National Instituteof Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564,Japan;Intelligent Systems Research Institute National Instituteof Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564,Japan;Intelligent Systems Research Institute National Instituteof Advanced Industrial Science and Technology (AIST) Tsukuba, Ibaraki 305-8564,Japan;Graduate School of Systems and Information Engineeringat University of Tsukuba Tsukuba, Ibaraki 305-8573, Japan;Interdisciplinary Graduate School of Science and EngineeringTokyo Institute of Technology Midori-ku, Yokohama 226-8502, Japan
Venue:
International Journal of Robotics Research
Year:
2008

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Abstract

A new prototype of a self-reconfigurable modular robot, M-TRAN III, has been developed, with an improved fast and rigid connection mechanism. Using a distributed controller, various control modes are possible: single-master, globally synchronous control or parallel asynchronous control. Self-reconfiguration experiments using up to 24 modules were undertaken by centralized or decentralized control. Experiments using decentralized control examined a modular structure moved in a given direction as a flow produced by local self-reconfigurations. In all experiments, system homogeneity and scalability were maintained: modules used identical software except for their ID numbers. Identical self-reconfiguration was realized when different modules were used in initial configurations.