2006 Fiscal Year Final Research Report Summary
Adaptive morphogenesis of a self-reconfigurable robot
| Project/Area Number |
16300063
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | National Institute of Advanced Industrial Science and Technology (AIST) |
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Principal Investigator |
KUROKAWA Haruhisa National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Research Institute, Research Group Head, 知能システム研究部門, 研究グループ長 (70356947)
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| Co-Investigator(Kenkyū-buntansha) |
MURATA Satoshi Tokyo Institute of Technology, Interdisciplinary Graduate School of Science and Engineering, 大学院総合理工学研究科知能システム科学専攻, 助教授 (10334533)
TOMITA Kohji National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Research Institute, Senior Researcher, 知能システム研究部門, 主任研究員 (80357574)
YOSHIDA Eiichi National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Research Institute, Senior Researcher, 知能システム研究部門, 主任研究員 (30358329)
KAMIMURA Akiya National Institute of Advanced Industrial Science and Technology (AIST), Intelligent Systems Research Institute, Researcher, 知能システム研究部門, 研究員 (70356822)
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| Project Period (FY) |
2004 – 2006
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| Keywords | Modular Robot / Self-reconfiguration / Distributed Autonomous System / Self-organization / Central Pattern Generator |
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| Research Abstract |
Regarding locomotion control in various robotic forms, we studied a method based on a neural oscillator network (CPG network). In this project, we extended the method by additional integration compensation. Adaptation capability of the method was evaluated by experiments, in which robots in various forms adapted to variation of external load or ground friction. In addition, a method was proposed and tested by experiments, that form change was initiated by excess load detected by the integration term.
Regarding selection of forms, an offline method called rapidly exploring random trees was applied and verified by numerical simulations. Experiments of automatic metamorphosis were also conducted by using either proximity sensors, a gravity sensor, or an onboard camera.
Regarding amoeba-like motion, we have designed 1-3 dimensional structures and basic self-reconfiguration motions. Experiments of linearly traveling motion by an asynchronous distributed control were successful by maximum 24 modules. A motion traveling a size-known step was made by centralized control. Future works include the same motion by a decentralized control and adaptation to unknown environment.
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