Self-reconfigurable modular robot (M-TRAN) and its motion design
نویسندگان
چکیده
We have developed a modular robotic system (M-TRAN) which can change its configuration by itself. By using many DOFs of mechanism and self-reconfiguration capability, it can realize several types of motion, and can make various configurations. We have made two models of the system (M-TRAN I & II). In M-TRAN II, various improvements are integrated such as onboard multi-computers, reliable inter-module communicat ion system, low power consumption, precise motor control, etc. Its hardware design, basic experiments and examples of motion are presented in this paper.
منابع مشابه
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