書誌事項
- タイトル別名
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- On Networking and Knowledge Distribution in Robots Composed of Identical Units.
- ユニット コウセイ ノ ロボット ニ オケル セイギョケイ コウセイ ト ジョ
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抄録
Robotic systems can be made flexible in their size, degrees of freedom, outputs for a desired task by composing them of identical units. There are three basic characteristics which are desirable in such systems; (1) expandability, (2) perceptibility of unit's location, and (3) fault tolerance. These characteristics of the system can be varied by the networking and knowledge distribution scheme employed. This paper proposes a method of classifying and comparing networking schemes for such robotic systems based on the above-mentioned three basic characteristics, and the optimal networking scheme is then made clear for a particular application. An experimental transfer robot composed of identical units, each of which has nineteen arms, was built and the experimental results are shown to support the proposed method.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 57 (540), 2758-2763, 1991
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681272702848
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- NII論文ID
- 130004229317
- 110002392603
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 3725876
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可