Automatic locomotion design and experiments for a modular robotic system

IEEE/ASME Transactions on Mechatronics

Volumn 10, Issue 3, 2005, Pages 314-325

  Kamimura, Akiya ^a   Kurokawa, Haruhisa ^a   Yoshida, Eiichi ^a   Murata, Satoshi ^b   Tomita, Kohji ^a   Kokaji, Shigeru ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Central pattern generator (CPG); Evolutionary computation; Locomotion; Modular robot; Neural oscillator network

Indexed keywords

COMPUTER SIMULATION; DECENTRALIZED CONTROL; DEGREES OF FREEDOM (MECHANICS); EVOLUTIONARY ALGORITHMS; GENETIC ALGORITHMS; MODULAR ROBOTS; NEURAL NETWORKS; OPTIMIZATION;

CENTRAL PATTERN GENERATOR (CPG); LOCOMOTION CONTROL; NEURAL OSCILLATOR NETWORK;

ROBOTICS;

EID: 23044433653     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2005.848299     Document Type: Article

References (31)

1. T. Fukuda and S. Nakagawa, "Dynamically reconfigurable robotic system," in Proc. IEEE Int. Conf. Robotics Automation (ICRA1998), May 1998, pp. 1581-1586.
2. G. S. Chirikjian, A. Pamecha, and I. Ebert-Uphoff, "Evaluating efficiency of self-reconfiguration in a class of modular robots," J. Robot. Syst., vol. 12-5, pp. 317-338, 1995.
3. S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, "Self-repairing mechanical systems," Auton. Robots, vol. 10, pp. 7-21, 2001.
4. S. Murata, H. Kurokawa, E. Yoshida, K. Tomita, and S. Kokaji, "A 3-D self-reconfigurable structure," in Proc. IEEE Int. Conf. Robotics Automation (ICRA1998), May 1998, pp. 432-439.
5. E. Yoshida, S. Murata, S. Kokaji, K. Tomita, and H. Kurokawa, "Micro self-reconfigurable robotic system using shape memory alloy," Distrib. Auton. Robot. Syst., vol. 4, pp. 145-154, 2000.
6. K. Hosokawa, T. Tsujimori, T. Fujii, H. Kaetsu, H. Asma, Y. Koruda, and I. Endo, "Self-organizing collective robots with morphogenesis in a vertical place," in Proc. IEEE Int. Conf. Robotics Automation (ICRA1998), May 1998, pp. 2858-2863.
7. A. Kamimura, E. Yoshida, S. Murata, H. Kurokawa, K. Tomita, and S. Kokaji, "A self-reconfigurable modular robot (MTRAN): Hardware and motion planning software," Distrib. Auton. Robot. Syst., vol. 5, pp. 17-26, 2002.
8. D. Rus and M. Vona, "A basis for self-reconfigurable robots using crystal modules," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS2000), Oct. 31-Nov. 5 2000, pp. 2194-2202.
9. K. Kotay and D. Rus, "Motion synthesis for the self-reconfigurable molecule," in Proc. 1998 IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS1998), Oct. 1998, pp. 843-851.
10. C. Ünsal, H. Kiliççöte, and P. K. Khosla, "A modular self-reconfigurable bipartite robotic system: Implementation and motion planning," Auton. Robots, vol. 10-1, pp. 23-40, 2001.
11. W. M. Shen, B. Salemi, and P. Will, "Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots," IEEE Trans. Robot. Autom., vol. 18, pp. 700-712, Oct. 2002.
12. A. Casal and M. Yim, "Self-reconfigurable planning for a class of modular robot," Proc. SPIE, vol. 3839, Sep. 1999, pp. 246-257.
13. M. Yim, "New locomotion gaits," in Proc. IEEE Int. Conf. Robotics Autom. (ICRA1994), May 1994, pp. 2508-2514.
14. E. Yoshida, S. Murata, H. Kurokawa, K. Tomita, and S. Kokaji, "A distributed method for reconfiguration of 3-D homogeneous structure," Adv. Robot., vol. 13, no. 4, pp. 363-379, 1999.
15. K. Tomita, S. Murata, H. Kurokawa, E. Yoshida, and S. Kokaji, "Self-assembly and self-repair method for distributed mechanical system," IEEE Trans. Robot. Autom., vol. 15; no. 6, pp. 1035-1045, Dec. 1999.
16. Z. Butler, K. Kotay, D. Rus, and K. Tomita, "Generic decentralized control for a class of self-reconfigurable robots," in Proc. IEEE Int. Conf. Robotics Autom.(ICRA2002), May 2002, pp. 809-816.
17. K. C. Prevas, C. Ünsal, M. Ö. Efe, and P. K. Khosla, "A hierarchical motion planning strategy for a uniform self-reconfigurable modular robotic system," in Proc. IEEE Int. Conf. Robotics Autom. (ICRA2002), May 2002, pp. 787-792.
18. H. H. Lund, R. L. Larsen, and E. H. Østergaard, "Distributed control in self-reconfigurable robots," in Proc. 5th Int. Conf. Evolvable Syst.: From Biology to Hardware, Mar. 2003.
19. K. Sims, "Evolving virtual creatures," in Computer Graphics (Siggraph'94 Proc.), July 1994, pp. 15-22.
20. H. Lipson and J. B. Pollack, "Towards continuously reconfigurable self-designing robotics," in Proc. IEEE Int. Conf. Robotics Autom. (ICRA2000), Apr. 2000, pp. 1761-1766.
21. K. Matsuoka, "Mechanisms of frequency and pattern control in the neural rhythm generators," Biol. Cybern., vol. 56, pp. 345-353, 1987.
22. G. Taga, "A model of the neuro-musculo-skeletal system for human locomotion II-Real-time adaptability under various constraints," Biol. Cybern., vol. 73, pp. 113-121, 1995.
23. H. Kimura, S. Akiyama, and K. Sakurama, "Realization of dynamic walking and running of the quadruped using neural oscillator," Auton. Robots, vol. 7-3, pp. 247-258, 1999.
24. A. J. Ijspeert, "Evolution of neural controllers for salamander-like locomotion," Proc. SPIE, vol. 3839, Sep. 1999, pp. 168-179.
25. R. D. Beer and J. C. Gallagher, "Evolving dynamical neural networks for adaptive behavior," Adap. Beh., vol. 1, no. 1, pp. 91-122, 1992.
26. M. Williamson, "Neural control of rhythmic arm movements," Neural Netw., vol. 11, pp. 1379-1394, 1998.
27. I. Ono and S. Kobayashi, "A real-coded genetic algorithm for function optimization using unimodal normal distribution crossover," in Proc. 7th ICGA, Jul. 1997, pp. 246-253.
28. S. Hirose, M. Imazato, Y. Kudo, and Y. Umetani, "Internally-balanced magnet unit," Adv. Robot., vol. 3, no. 1, pp. 225-242, 1986.
29. S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, "M-TRAN: Self-reconfigurable modular robotic system," IEEE/ASME Trans. Mechatronics, vol. 7, pp. 431-441, 2002.
30. H. Kurokawa, A. Kamimura, E. Yoshida, K. Tomita, S. Murata, and S. Kokaji, "Self-reconfigurable modular robot (M-TRAN) and its motion design," in Proc. ICARCV'02, Dec. 2002, pp. 51-56.
31. M-TRAN II Web Site in AIST [Online]. Available: Available: http://unit. aist.go.jp/is/dsysd/mtran/English/index.html.