Complex Behaviors From Local Rules In Modular Self-Reconfigurable Robots
نویسندگان
چکیده
We demonstrate how simple local rules, inspired by social insects, produce complex dynamic behaviors required for locomotion and navigation in modular selfrecon gurable robots. We show how systems made up of many modules respond dynamically to their environment, such as obstacles during navigation. We present control algorithms tested on simulation experiments of TeleCube, a new modular robot developed at
منابع مشابه
Self - Reconfigurable Robots for Adaptive and Multifunctional Tasks
Self-reconfigurable modular robots are metamorphic systems that can autonomously change their logical or physical configurations (such as shapes, sizes, or formations), as well as their locomotion and manipulation, based on the mission and the environment in hand. Because of their modularity, versatility, self-healing ability and low cost reproducibility, such robots provide a flexible approach...
متن کاملA Survey of Motion Planning for Self-Reconfigurable Robots
Self-Reconfigurable robots are complex distributed systems composed of multiple modular robotic units. These units can rearrange to form different structures that fit the specific tasks that face the robot. The unique and complex nature of self-reconfigurable robots has lead to a challenging subset of motion-planning problems. In this paper several types of reconfigurable robots are described a...
متن کاملKinematic Design of Modular Reconfigurable In-Parallel Robots
This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robo...
متن کاملTowards a common comparison framework for global-to-local programming of self-assembling robotic systems
Self-assembling robotic systems are a class of modular robotic systems composed of many identical modules that, when mixed randomly, can bind together to assemble into complex shapes [1, 2, 5, 6, 14]. Modules in these systems have dynamic state and local binding rules that drive the overall self-assembly process. A key question is how to generate module rules such that the system assembles to f...
متن کاملDistributed control diffusion: towards a flexible programming paradigm for modular robots
A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape. Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essent...
متن کامل