Global Locomotion from Local Interaction in Self-Reconfigurable Robots
نویسنده
چکیده
We present a general distributed control algorithm for achieving locomotion of a self-reconfigurable robot. In this algorithm each module continuously performs a cyclic sequence of actions with a period . When a specified fraction of this period has elapsed a signal is sent to all child modules. Upon receiving this signal the child module resets its action sequence making it delayed compared to its parent. The algorithm is minimal and robust to loss of synchronization signals and change in the number of modules. We show in three different experiments that the algorithm can be used to implement a caterpillar, a sidewinder, and a rolling wheel gait in a real self-reconfigurable robot consisting of eight modules.
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