|
|||||
|
|
A membrane computing framework for self-reconfigurable robots |
|
| Authors: | Bie Dongyang Gutiérrez-Naranjo Miguel A. Zhao Jie Zhu Yanhe |
| Affiliation: | 1.The Institute of Robotics and Automatic Information Systems, College of Computer and Control Engineering, and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China ;2.State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, Heilongjiang Province, China ;3.Department of Computer Science and Artificial Intelligence, University of Seville, Seville, Spain ; |
| Abstract: | Self-reconfigurable robots are built by modules which can move in relationship to each other, which allows the robot to change its physical form. Finding a sequence of module moves that reconfigures the robot from the initial configuration to the goal configuration is a hard task and many control algorithms have been proposed. In this paper, we present a novel method which combines a cluster-flow locomotion based on cellular automata together with a decentralized local representation of the spatial geometry based on membrane computing ideas. This new approach has been tested with computer simulations and real-world experiments performed with modular self-reconfigurable robots and represents a new point of view with respect other control methods found in the literature. |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ | |