Self-reconfigurable M-TRAN structures and walker generation

• DOI: 10.1016/j.robot.2005.09.023
• Publication Date: 2005-11-29T12:47:26Z
• Authors: H. Kurokawa; E. Yoshida; K. Tomita; A. Kamimura; S. Murata; S. Kokaji
• Keywords: Control reconfiguration

Abstract 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.