Development of Three-legged Modular Robots and Demonstration of Collaborative Task Execution
Development of Three-legged Modular Robots and Demonstration of Collaborative Task Execution
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DOI：
10.1109/robot.2007.364076
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发表时间：
2007-04
期刊：
影响因子：
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通讯作者：
Masaki Ohira;R. Chatterjee;T. Kamegawa;F. Matsuno
中科院分区：
文献类型：
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作者：
Masaki Ohira;R. Chatterjee;T. Kamegawa;F. Matsuno
我们的研究视角是开发在灾难现场有效收集信息的机制。理想情况下，这需要具有灵活、现场、适应整体形状和运动策略以适应未知和不稳定环境的机制。我们一直在开发三足模块化机器人，它们可以互连，协同实现多种运动模式，协同执行单个模块无法完成的任务。在本文中，我们报告了实验性模块化机器人的开发以及它们的协作活动的实验，这些协作活动是从它们的各种互连选项中演变而来的。
Our research perspective is to develop mechanisms for gathering information efficiently in disaster sites. Ideally this requires mechanisms with capabilities of flexible, on-site, adaptation of the overall shape and of the locomotion strategy to unknown and unstable environments. We have been developing three-legged modular robots which can be interconnected to cooperatively achieve multiple locomotion modes and collaboratively perform tasks that cannot be done by a single module. In this paper, we report the development of experimental modular robots and experimentations with their cooperative activities which evolve out of their various inter-connectivity options.