Name
Title | ||
|---|---|---|
Reconfigurable group robots adaptively transforming a mechanical structure - Extended criteria for load-adaptive transformations |
Abstract | ||
|---|---|---|
This study deals with a control method of a modular robotic system "CHOBIE II." Our purpose is to realize a function that CHOBIE II forms a self-reconfigurable structure adaptively to mechanical environments. In the previous paper, we introduced a method to express criteria for generating transformations. A criterion is regulated by 32 parameters corresponding to 32 kinds of local shapes on contour of the structure. According to the criterion, CHOBIE H can dissolve undesirable local shapes and transform to goal configurations. In this paper, we propose a method to realize load-adaptive motion extending the criterion. Specifically, we add two new criteria to induce desirable local shapes and to change priorities of motions depending on a load condition. We show the availability of the method by simulation results that the modular robots construct a cantilever structure avoiding overstressed states. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/IROS.2008.4650834 | IROS |
Keywords | Field | DocType |
adaptive control,motion control,multi-robot systems,CHOBIE II,cantilever structure,load-adaptive motion,load-adaptive transformations,mechanical structure,modular robotic system,reconfigurable group robots,self-reconfigurable structure,adaptive transformation,distributed autonomous systems,group robots,modular robots,structural transformation | Robotic systems,Motion control,Cantilever,Control theory,Computer science,Control engineering,Construction industry,Self-reconfiguring modular robot,Adaptive control,Modular design,Robot | Conference |
Citations | PageRank | References |
3 | 0.42 | 6 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yosuke Suzuki | 1 | 33 | 9.31 |
| Norio Inou | 2 | 26 | 5.45 |
| Michihiko Koseki | 3 | 26 | 4.77 |
| Hitoshi Kimura | 4 | 60 | 9.18 |