らせん状磁石による結合・変形機構を備えたモジュラーロボットの開発

―自律分散システムによる行動決定及び変形制御―

抄録

This study develops self-reconfiguration modular robots using helical magnets. In this paper, we propose control method for stable movement, communication system among modules, and action decision rule to the self-reconfiguration with autonomous distributed system. The stable movement is realized by arrangement of helical magnets to increase binding force and propulsive force. The control system is realized by using hall sensors, full color LED and color sensors. The action decision to generate crawl motion is realized.