Concept of self-reconfigurable modular robotic system |
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| Affiliation: | 1. Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuda Midori-ku, Yokohama 226-8502 Japan;2. Distributed System Design Research Group, Intelligent Systems Institute, AIST, Tsukuba-East, 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564 Japan;1. School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan;2. Japan Atomic Energy Agency (JAEA), Tokai 319-1195, Japan;3. National Institute of Advanced Industrial Science and Technology (AIST), Nagoya 463-8560, Japan;1. Department of Applied Chemistry, The University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113-8656, Japan;2. National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki 05-8565, Japan;3. University of Genova and CNR-SPIN, 16146 Genova, Italy;1. Department of Civil Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba, Japan;2. Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan |
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| Abstract: | We present a concept of novel self-reconfigurable robotic system made of homogeneous autonomous robotic modules. Each robotic module has only two DOF, however a group of this module is able to change its connective configuration by changing their local connections. A cluster of the modules, thus can metamorphose into arbitrary configuration according to the surrounding environment or desired specification. Not only this ability of structural metamorphosis, the combined modules have functionality of robotic system which is capable of generating complicated motion. |
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