Real-time Morphology Control of a Modular Robot by Exploiting the Interaction between Control and Mechanical Dynamics

Masayasu Takahashi; Masahiro Shimizu; Toshihiro Kawakatsu; Akio Ishiguro

doi:10.11499/sicep.2004.0_17_3

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_17_3

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Real-time Morphology Control of a Modular Robot by Exploiting the Interaction between Control and Mechanical Dynamics

*Masayasu Takahashi, Masahiro Shimizu, Toshihiro Kawakatsu, Akio Ishiguro

Author information

Keywords: Modular robot, Autonomous decentralized algorithm, Emergent phenomenon

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 17

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Abstract

This paper discusses a fully decentralized algorithm able to control the morphology of a modular robot, consisting of many identical modules, according to the environment encountered. One of the significant features of our approach is that we explicitly exploit an emergent phenomenon stemming from the interaction between control and mechanical dynamics in order to control the morphology in real time.

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