NDLI: Self-reconfigurable modular robots -hardware and software development in AIST

Content Provider	IEEE Xplore Digital Library
Author	Yoshida, E. Murata, S. Kamimura, A. Tomita, K. Kurokawa, H. Kokaji, S.
Copyright Year	2003
Description	Author affiliation: Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan (Yoshida, E.)
Abstract	In this paper we present the development of hardware and software of self-reconfigurable modular robots in National Institute of Advanced Industrial Science and Technology (AIST), Japan. Thanks to their flexibility, versatility and fault-tolerance, self-reconfigurable modular robots are expected to be used in various application fields, such as space, rescue or micro-sized world. Our research group has been pioneering this new field and developed several hardware prototypes and corresponding software that exploit the robots' potential. We have been successfully demonstrated the feasibility of the self-reconfigurable modular robots based on experiments from different aspects. Starting from two-dimensional (2D) self-assembling and self-repairing machine fractum, we review hardware development in diverse directions, like to micro-world, three-dimensional (3D) structures and motions; as well as the progress of control software, including distributed control and recent evolutionary motion inquisition.
Sponsorship	Chinese High-tech Development Program Chinese Academy of Sci. Chinese Soc. of Automation IEEE Systems, Man and Cybernetics Soc
Starting Page	339
Ending Page	346
File Size	700521
Page Count	8
File Format	PDF
ISBN	078037925X
DOI	10.1109/RISSP.2003.1285597
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fault tolerance Software prototyping Service robots Space technology Programming Distributed control Computer industry Hardware Application software Orbital robotics
Content Type	Text
Resource Type	Article

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