Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots

Authors:
Wei Xu;Shi-Gang Wang;An-Lin Wang;Guo-Bao Wang
Affiliations:
School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, P. R. of China/ e-mail: njxw2000@yahoo.com;School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, P. R. of China;School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, P. R. of China;School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, P. R. of China
Venue:
Journal of Intelligent and Robotic Systems
Year:
2003

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Abstract

This paper deals with the essential technique for self-organizing metamorphosis of self-reconfigurable robots. A general model describing self-reconfigurable robots is proposed; the model is capable of expressing the topological structure of typical 2-D and 3-D self-reconfigurable robots. Afterwards, a self-organizing metamorphic strategy of self-reconfigurable robots, based on full-discrete local intelligence, is proposed. The modules concurrently process the local interactive information. A reasonable motion sequence for modules can be obtained by means of determining and evolving the rules of modules motion. Consequently, the global self-organizing behavior will be obtained, and the complexity of the algorithm is reduced. Simulation samples are provided to illustrate this approach and demonstrate the effectiveness of the proposed strategy.