Paper Info
Title
Reconfigurable group robots adaptively transforming a mechanical structure - Crawl motion and adaptive transformation with new algorithms
Abstract
This paper describes group robots adaptively construct a mechanical structure. The feature of the robots is high rigidity by adopting sliding mechanisms. This study discusses algorithms of crawl motion and adaptive construction considering mechanical constraints of the robots. The proposed algorithm is based on local communication of the robots. We introduce a scheme of a temporary leader which is autonomously specified by form of the structure. The scheme decreases amount of information in communication between the robots. The experimental demonstrations are also shown in this paper.
Year
DOI
Venue
2006
10.1109/IROS.2006.282560
Beijing
Keywords
Field
DocType
adaptive control,mobile robots,motion control,multi-robot systems,robot kinematics,variable structure systems,adaptive transformation,crawl motion,mechanical structure,reconfigurable group robots,sliding mechanisms,adaptive transformation,autonomous distributed systems,group robots,structural transformation
Rigidity (psychology),Robot control,Motion control,Computer science,Robot kinematics,Algorithm,Control engineering,Structural transformation,Adaptive control,Robot,Mobile robot
Conference
ISBN
Citations 
PageRank 
1-4244-0259-X
3
0.52
References 
Authors
6
4
Name
Order
Citations
PageRank
Yousuke Suzuki130.52
Norio Inou2265.45
Hitoshi Kimura3609.18
Michihiko Koseki4264.77