Research Article
Self-Reconfigurable Modular Robot M-TRAN: Distributed Control and Communication
@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2119, author={Haruhisa Kurokawa and Kohji Tomita and Akiya Kamimura and Shigeru Kokaji and Takashi Hasuo and Satoshi Murata}, title={Self-Reconfigurable Modular Robot M-TRAN: Distributed Control and Communication}, proceedings={1st International ICST Conference on Robot Communication and Coordination}, proceedings_a={ROBOCOMM}, year={2010}, month={5}, keywords={Central pattern generator Coordinated motion control Distributed autonomous system}, doi={10.4108/ICST.ROBOCOMM2007.2119} }
- Haruhisa Kurokawa
Kohji Tomita
Akiya Kamimura
Shigeru Kokaji
Takashi Hasuo
Satoshi Murata
Year: 2010
Self-Reconfigurable Modular Robot M-TRAN: Distributed Control and Communication
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2119
Abstract
M-TRAN is a self-reconfigurable modular robot: each module has an independent battery, two-degree-of-freedom motion, six-surface-connection capability, and intelligence with inter- module communication. The M-TRAN system can perform flexible and adaptive locomotion in various configurations using coordination control based on a central pattern generator (CPG). Various structures of several modules can perform metamorphosis, such as that between a four-legged robot and a snake-like one. In addition to these self-reconfigurations with synchronous control, M-TRAN structures having regularity can move using parallel distributed control and message exchange via the network bus. Self-reconfiguration using infrared local communication has been attempted to improve the system’s scalability.