Self-reconfigurable M-TRAN structures and walker generation

• Published in: Robotics and autonomous systems Vol. 54; no. 2; pp. 142 - 149
• Main Authors: Kurokawa, H., Yoshida, E., Tomita, K., Kamimura, A., Murata, S., Kokaji, S.
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 28-02-2006
• Subjects: Autonomous distributed system; Metamorphosis; Modular robot; Self-reconfiguration; Autonomous distributed system; Self-reconfiguration; Metamorphosis; Modular robot
• ISSN: 0921-8890; 1872-793X
• DOI: 10.1016/j.robot.2005.09.023

The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration and whole body locomotion. Introducing regularity in allowed structures reduced difficulties of its reconfiguration problems. Several locomotion patterns in various structures were designed systematically using a CPG controller model and GA optimization. Then they were verified by experimentation. Results showed a feasible scenario of operation with multiple M-TRAN modules, which is presented herein, including metamorphosis of a regular structure, generation of walkers from the structure, walker locomotion, and reassembling of walkers to the structure.