説明
We have been developing a self-reconfigurable modular robotic system (M-TRAN) which can make various 3-D configurations and motions. In the second prototype (M-TRAN II), various improvements are integrated in order to realize complicated reconfigurations and versatile whole body motions. Those are a reliable connection/detachment mechanism, on-board multi-computers, high speed inter-module communication system, low power consumption, precise motor control, etc. Programing environments are also integrated to design self-reconfiguration processes, to verify motions in dynamics simulation, and to realize distributed control on the hardware. Hardware design, developed software and experiments are presented in this paper.
収録刊行物
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- Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) 3 2454-2459, 2004-07-08
IEEE