1991 Volume 34 Issue 2 Pages 295-302
The dynamically recontigurable robotic system (DRRS) is a new kind of robotic system which is able to reconfigure itself to optimal structure depending on the purpose and environment. To realize this concept, we have proposed CEBOT (cellular robotics). Communication is needed in the CEBOT system as follows. When cells are separated, the communication master cell needs to know the other cel1's function and positions and determine the target cell for docking. Mobile cells should be able to coordinate with other mobile cells. When cells are docked, forming cell structure/module, a master cell should control the bending joint cell and know of which cells the construction is composed. In this paper, we propose a communication protocol for both the cases with an optical sensor applicable to CEBOT. Some experimental results are shown by realizing the proposed communication method between cells.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing