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Adaptive modular robots through heterogeneous inter-module connections


Shimizu, M; Takuma, K; Lungarella, M; Ishiguro, A (2008). Adaptive modular robots through heterogeneous inter-module connections. Journal of Robotics and Mechatronics, 20(3):386-393.

Abstract


Modular robots are mechatronic systems that can rearrange their connectivity to create new topologies to accomplish diverse tasks. In previous work, we have studied a modular reconfigurable robot (Slimebot) characterized by a spontaneous inter-module connection control mechanism. The modules of Slimebot connect to each other via a functional material which guarantees physical coupling between the modules. Here, we investigate the effect of heterogeneous inter-module coupling strengths on the adaptivity of Slimebot (here measured in terms of structural stability and locomotive speed). Simulation results show that a certain amount of heterogeneity improves the adaptivity of the system compared to the case of homogeneous modules. The only assumption that needs to be satisfied by the system with heterogeneous couplings is compliance to Steinberg's energy minimization theory.

Abstract


Modular robots are mechatronic systems that can rearrange their connectivity to create new topologies to accomplish diverse tasks. In previous work, we have studied a modular reconfigurable robot (Slimebot) characterized by a spontaneous inter-module connection control mechanism. The modules of Slimebot connect to each other via a functional material which guarantees physical coupling between the modules. Here, we investigate the effect of heterogeneous inter-module coupling strengths on the adaptivity of Slimebot (here measured in terms of structural stability and locomotive speed). Simulation results show that a certain amount of heterogeneity improves the adaptivity of the system compared to the case of homogeneous modules. The only assumption that needs to be satisfied by the system with heterogeneous couplings is compliance to Steinberg's energy minimization theory.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Date:June 2008
Deposited On:29 Jan 2009 07:55
Last Modified:05 Apr 2016 12:47
Publisher:Fuji Technology Press
ISSN:0915-3942
Official URL:http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002000030005.xml

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