磁気吸着機能を有する歯車型モジュラーロボットの開発

抄録

Many types of modular robots have been proposed, however the control methods for their transformation have not been established so far. Although equations of motion are necessary for the motion control, it is difficult because modular robots associate with unexpected discontinuity appearing in morphology changes. The objective of this study is to propose a modular robot, in which the contact surfaces between modular robots consist of circular-arc-gears. The geometric restrictions are maintained with a neodymium-magnets force. Here we develop the circular-arc-gear type modular robots equipped with a servo-motor, a micro controller, a battery, and a wireless communication device. Additionally, the experiments are carried out by hardware.