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Study on Morpho-genesis and Morpho-reconfiguration of a Cluster Mechanical System Composed of Autonomous Mobile Robot Modules

Research Project

Project/Area Number 15360140
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokyo University of Science

Principal Investigator

HARA Fumio  Tokyo University of Science, Department of Mechanical Engineering, Professor, 工学部, 教授 (90084376)

Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥10,200,000 (Direct Cost: ¥10,200,000)
Fiscal Year 2005: ¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 2004: ¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 2003: ¥5,000,000 (Direct Cost: ¥5,000,000)
KeywordsCluster Morpho-functional Mechanical System / Module Composition / Emergence of Functionality / Morphology Self-organization / Linear Cluster Mechanical System / Autonomous Mobile Module / Experiment of Morpho-genesis / Morpho-reconfiguration / クラスタ形態機能機械システム / クラスタ形態の機能発現 / 線状クラスタ形態修復 / 多モジュール構成機械システム / 線状クラスタ機械の旋回運動 / モジュラー形機械システム / クラスタ形態 / 自己組織的形態形成 / 線枝状クラスタ機械システム / 均一モジュール / 2要素結合サブクラスタ / カスケード形態生成方式
Research Abstract

This study has investigated the dynamic emergence mechanisms of linear cluster morpho-genesis and morpho-reconfiguration of autonomous mobile robotic modules, each of which is equipped with touch-sensor, simple light communication device and force sensor, moves straight-forward and/or rotates in opposite direction and connects by ratch-arms when colliding each other. And also we have investigated the straight-forward and circular locomotion characteristics of a linear cluster mechanical system self-organized through the dynamic process of linear cluster morpho-genesis emerged under the mechanical interaction between the modules. The investigation has been performed by computer simulation using DADS with some custom-made subroutines for representing mechanical collision of hardware modules and also by experiments using 20 hardware robotic modules.
(1)Under the sensor-motor coordination that a robot module takes rotation in mutually opposite direction at collision to another module and co … More nnects with each other by a connecting ratch-arm, the robotic modules can connect each other by step by step in random way and the average size of the linear cluster mechanical system can reach 6 to 7 of modules. The most important parameters are found to be number of interacting modules and their moving speed.
(2)The linear cluster mechanical system can move straight forward or in a circular manner by changing the moving speed of the front-head module with respect to the follower-ones, i.e., when it exceeds the follower's, the system moves almost straight forward or a circular in a bow shape ; when other case, it rotates in a circular form.
(3)The morpho-reconfiguration is found to be undertaken by the same morpho-genesis mechanism as to that of self-reconfiguration that can replace a sub-cluster containing a mal-functioned module from the whole cluster body.
The followings are some of the future research items :
(1)Influence and effect of morphology of individual autonomous mobile robot module (3-arms or 4-arms) and of its sensor-motor coordination on the morphological characteristics of the self-organized cluster mechanical systems, and
(2)Sensor-motor coordination that will make it possible to self-generate the proper morphology of a cluster mechanical system suitable to the given task and environment. Less

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (13 results)

All 2006 2005 2004

All Journal Article (13 results)

  • [Journal Article] クラスタロボット実機における線状形態実験とコンピューターシミュレーションによる検証2006

    • Author(s)
      伊予部宗吾, 斉藤哲也, 市川純章, 原 文雄
    • Journal Title

      計測自動制御学会第18回自律分散システムシンポジウム資料 1月

      Pages: 57-60

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Experiment of Linear Cluster Morpho-Genesis by Using Hardware Robot-Modules And Verification by Computer Simulation2006

    • Author(s)
      Sohgo Iyobe, Tetsuya Saito, Sumiaki Ichikawa, Fumio Hara
    • Journal Title

      Proc.SICE Emergence Symposium

      Pages: 57-60

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 自律移動クラスターロボットモジュールの製作と形態形成実験2005

    • Author(s)
      斉藤哲也, 伊予部宗吾, 市川純章, 原 文雄
    • Journal Title

      日本機械学会ロボテイクス・メカトロニクス講演概要集 10月

      Pages: 33-36

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Building of Autonomous Mobile Robotic Modules and Experiment of Self-organized Morpho-Genesis for a Cluster Robot2005

    • Author(s)
      Tetsuya Saito, Sohgo Iyobe, Sumiaki Ichikawa, Fumio Hara
    • Journal Title

      Proc.JSME Robotics and Mechatronics Division Annual Meeting

      Pages: 33-36

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 自律移動クラスターロボットモジュールの製作と形態形成実験2005

    • Author(s)
      斉藤 哲也
    • Journal Title

      JSME ロボテイクス・メカトロニクス講演概要集

      Pages: 33-36

    • Related Report
      2005 Annual Research Report
  • [Journal Article] クラスターロボット実機における線状形態形成実験とコンピュータシミュレーションによる検証2005

    • Author(s)
      伊予部 宗吾
    • Journal Title

      SICE 第18回自律分散システムシンポジウム資料

      Pages: 57-60

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 自律移動クラスタロボットの製作と形態形成実験2005

    • Author(s)
      斉藤哲也, 原文雄, その他2名
    • Journal Title

      JSMEロボット・メカトロニクス部門学術講演会論文集 (予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] クラスタロボットのための形態形成のシミュレーション研究2004

    • Author(s)
      伊予部宗吾, 市川純章, 原 文雄
    • Journal Title

      第22回日本ロボット学会学術講演会予稿集 9月

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] クラスタロボットのための形態形成の研究2004

    • Author(s)
      伊予部宗吾, 原文雄, 市川純章, 斉藤哲也
    • Journal Title

      自動制御学会創発シンポジウム講演資料集 8月

      Pages: 154-157

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Computer Simulation of Morpho-genesis for Cluster Robot System2004

    • Author(s)
      Sohgo Iyobe, Sumiaki Ichikawa, Fumio Hara
    • Journal Title

      Proc.of 22^<nd> Japan Robotics Society Annual Meeting P.2B12

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Study of Morpho-genesis for a Cluster Robotic System2004

    • Author(s)
      Sohgo Iyobe, Fumio Hara, Sumiaki Ichikawa, Tetsuya Saito
    • Journal Title

      Proc.SICE Emergence Symposium

      Pages: 154-157

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] クラスタロボットのための形態形成のシミュレーション研究2004

    • Author(s)
      伊予部宗吾, 市川純章, 原文雄
    • Journal Title

      第22回日本ロボット学会学術講演会予稿集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] クラスタロボットのための形態形成の研究2004

    • Author(s)
      伊予部宗吾, 原文雄, その他2名
    • Journal Title

      SICE 第10回創発シンポジウム講演資料集

      Pages: 154-157

    • Related Report
      2004 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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