Study of Group Robots Adaptively Forming a Mechanical Structure. Effect of Mechanical Properties of Cellular Robots on Structure Formation.

摘要

In this paper, group robots which can adaptively form a mechanical structure are described. The group robots consist of identical cellular robots. Each cellular robot has the identical mechanical structure and autonomous behavior. In the situation considered in this study, a mobile object must cross over from one cliff to another in the absence of a bridge. The mission of the group robots is to form a mechanical bridge-like structure which is governed by the movement of the object. This paper focuses on the mechanical specifications required for the cellular robots for execution of the mission. We pointed out that three mechanical parameters for the sensing stress of the cellular robot are essential for formation of the structure. The structure formation process was examined by computer simulations for discussing the effects of the mechanical parameters.