A Study on Dynamically Reconfigurable Robotic Systems. Recognition and Communication System of Cell-Structured Robot "CEBOT".

摘要

The dynamically recontigurable robotic system (DRRS) is a new kind of robotic system which is able to reconfigure itself to optimal structure depending on the purpose and environment. To realize this concept, we have proposed CEBOT (cellular robotics). Communication is needed in the CEBOT system as follows. When cells are separated, the communication master cell needs to know the other cel1's function and positions and determine the target cell for docking. Mobile cells should be able to coordinate with other mobile cells. When cells are docked, forming cell structure/module, a master cell should control the bending joint cell and know of which cells the construction is composed. In this paper, we propose a communication protocol for both the cases with an optical sensor applicable to CEBOT. Some experimental results are shown by realizing the proposed communication method between cells.