受動関節を有する対向２輪型モジュールロボットの移動制御方法の提案

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  • Proposal of movement control method for a differential drive wheel modular robot with passive joints

説明

<p>The multi-purpose module system (MMS), a modular robot, is possible to transform into various forms by manually connected. MMS needs an automatic desorption function to improve versatility. This study proposes a movement control method for MMS that can be automatic desorption. MMS is consisting of differential-drive wheeled robot which have a connector and a passive joint. Propagation control method is selected to drive the MMS. This method is suitable for the control of the modular robot because it does not depend on the number of modules. The proposed control method is evaluated by simulation. The simulation results indicated that the subsequent module followed the leading module. From the results, the usefulness of using propagation control for the connected modular robot.</p>

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