A Self-Reconfigurable Modular Robot: Reconfiguration Planning and Experiments  

Oleh:

Yoshida, Eiichi ; Murata, Satoshi ; Kamimura, Akiya ; Tomita, Kohji ; Kurokawa, Haruhisa ; Kokaji, Shigeru

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 10-11 (Oct. 2002), page 903-915.
Topik: self-reconfigurable robot; modular robotics; planning; hierarchical planner; experimental robotics
Fulltext: 903.pdf (1.19MB)

Isi artikel

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory; the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the rototype modules we have developed.

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