Self-reconfigurable modular robot M-TRAN: distributed control and communication

Abstract

M-TRAN is a self-reconfigurable modular robot: each module has an independent battery, two-degree-of-freedom motion, six-surface-connection capability, and intelligence with inter-module communication. The M-TRAN system can perform flexible and adaptive locomotion in various configurations using coordination control based on a central pattern generator (CPG). Various structures of several modules can perform metamorphosis, such as that between a four-legged robot and a snake-like one. In addition to these self-reconfigurations with synchronous control, M-TRAN structures having regularity can move using parallel distributed control and message exchange via the network bus. Self-reconfiguration using infrared local communication has been attempted to improve the system's scalability.