On Networking and Knowledge Distribution in Robots Composed of Identical Units.
Bibliographic Information
- Other Title
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- ユニット構成のロボットにおける制御系構成と情報管理
- 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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Abstract
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.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 57 (540), 2758-2763, 1991
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282681272702848
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- NII Article ID
- 130004229317
- 110002392603
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 3725876
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed