Hormone-inspired distributed control of self-reconfiguration

被引:0
|
作者
Krivokon, M [1 ]
Will, P [1 ]
Shen, WM [1 ]
机构
[1] Univ So Calif, Dept Comp Sci, Los Angeles, CA 90089 USA
来源
2005 IEEE Networking, Sensing and Control Proceedings | 2005年
关键词
distributed control; hormone-based control; self-reconfigurable robots;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Self-reconfigurable robots are valued for adaptive and fault-tolerant operation in unpredictable environments on wide range of tasks. Self-reconfiguration is the key ability in accomplishing such tasks with the same set of hardware. Distributed control of self-reconfiguration provides tolerance to failures of individual modules and ability to cope with changing environment conditions. This paper proposes distributed control architecture capable of producing locomotion and self-reconfiguration behaviors. We provide an example of using this control method to accomplish a 'snake to dragon' configuration change in simulation. To the best of our knowledge the problem of distributed self-reconfiguration for chain-based modular robots has not been addressed before.
引用
收藏
页码:514 / 519
页数:6
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