Skip to main content
SpringerLink
Log in

Self-Organization of Motion

  • Chapter
  • First Online:
Self-Organizing Robots

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 77))

  • 1428 Accesses

Abstract

In contrast with lattice-type modular robots capable of self-reconfiguration, chain-type modular robots are made for flexible motions, exploiting their multiple degrees of freedom. Motion control is one of the major areas of robotics, and knowledge accumulated through years of experience is applicable to chain type modular robots. Most of such knowledge and methods, however, are suited to a centralized controller based on a complete and precise model. In this chapter, we explore a way to design distributed motion control for modular robots. We start with building a homogeneous distributed control system applicable to any robot configuration. The system then is optimized accordingly to each specific robot configuration.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Craig, J.J.: Introduction to robotics: mechanics and control, 2nd edn. Addison-Wesley (1989)

    Google Scholar 

  2. Todd, D.J.: Walking machines: an introduction to legged robots. Kogan Page (1985)

    Google Scholar 

  3. Sastra, J., Chitta, S., Yim, M.: Dynamic Rolling for a Modular Loop Robot. In: Adv. Robot., vol. 39, pp. 421–430. Springer (2008)

    Google Scholar 

  4. Hirose, S., Morishima, A.: Design and Control of a Mobile Robot with an Articulated Body. Int. J. Robot. Res. 9(2), 99–114 (1990)

    Article  Google Scholar 

  5. Kimura, S., Tsuchiya, S., Suzuki, Y.: Decentralized Autonomous Mechanism for Fault-Tolerant Control of a Kinematically Redundant Manipulator. In: IEEE Int. Conf. Syst. Man. Cybern., vol. 3, pp. 2540–2545 (1995)

    Google Scholar 

  6. Winfree, A.T.: Biological Rhythms and the Behavior of Populations of Coupled Oscillators. J. Theoret. Biol. 16, 15–42 (1967)

    Article  Google Scholar 

  7. Strogatz, S.H., Stewart, I.: Coupled Oscillators and Biological Synchronazation. Sci. Am., 102–109 (December 1993)

    Google Scholar 

  8. Pikovsky, A., Rosenblum, M., Kurths, J.: Synchronization: A Universal Concept in Nonlinear Sciences. Cambridge University (2001)

    Google Scholar 

  9. Kokaji, S., Murata, S., Kurokawa, H., Tomita, K.: Clock synchronization mechanisms for a distributed autonomous system. J. Robot. Mechatron 8(5), 427–434 (1996)

    Google Scholar 

  10. Kuramoto, Y.: Chemical Oscillations, Waves, and Turbulence. Springer, New York (1984)

    Book  MATH  Google Scholar 

  11. Guckenheimer, J., Holmes, P.: Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields. Springer (1983)

    Google Scholar 

  12. Thompson, J.M.T., Stewart, H.B.: Nonlinear Dynamics and Chaos. John Wiley & Sons (1986)

    Google Scholar 

  13. Shimizu, M., Ishiguro, A., Kawakatsu, T.: Slimebot: A Modular Robot That Exploits Emergent Phenomena. In: Proc. Int. Conf. Robot. Autom., pp. 2982–2987 (2005)

    Google Scholar 

  14. Cohen, A.H., Holmes, P.J., Rand, R.H.: The nature of the coupling between segmental oscillators of the lamprey spinal generator for locomotion: a mathematical model. J. Math. Biol. 13, 345–369 (1982)

    Article  MathSciNet  MATH  Google Scholar 

  15. Yuasa, H., Ito, M.: Coordination of many oscillators and generation of locomotory patterns. Biol. Cybern. 63, 177–184 (1990)

    Article  MATH  Google Scholar 

  16. Ijspeert, A.J.: Central pattern generators for locomotion control in animals and robots: a review. Neural Netw. 21(4), 642–653 (2008)

    Article  Google Scholar 

  17. Fukuoka, Y., Kimura, H., Cohen, A.H.: Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain based on Biological Concepts. Int. J. Robot. Res. 22(3-4), 187–202 (2003)

    Article  Google Scholar 

  18. Matsuoka, K.: Mechanisms of frequency and pattern control in the neural rhythm generators. Biolog. Cybern. 56, 345–353 (1987)

    Article  Google Scholar 

  19. Marbach, D., Ijspeert, A.: Online Optimization of Modular Robot Locomotion. In: Proc. IEEE Int. Conf. Mechtron Automat., pp. 248–253 (2005)

    Google Scholar 

  20. Holland, J.H.: Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence. MIT (1992)

    Google Scholar 

  21. Goldberg, D.E.: Genetic Algorithms in Search, Optimization, and Machine Learning. Addison-Wesley (1989)

    Google Scholar 

  22. Kamimura, A., Kurokawa, H., Yoshida, E., Murata, S., Tomita, K., Kokaji, S.: Automatic Locomotion Design and Experiments for a Modular Robotic System. IEEE/ASME Trans. Mechatron 10(3), 314–325 (2005)

    Article  Google Scholar 

  23. http://www.openrtp.jp/openhrp3/en/index.html (accessed July 05, 2011)

  24. Hoyt, D.F., Taylor, C.R.: Gait and the energetics of locomotion in horses. Nat. 292(16), 239–240 (1981)

    Article  Google Scholar 

  25. Sims, K.: Evolving Virtual Creatures. In: Proc. SIGGRAPH, pp. 15–22 (1994)

    Google Scholar 

  26. Marbach, D., Ijspeert, A.J.: Co-Evolution of Configuration and Control for Homogenous Modular Robots. Intel. Auton. Syst. 8, 712–719 (2004)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Bioengineering and Robotic Graduate School of Engineering, Tohoku University, 6-6-1 Aoba-yama, 980-8579, Sendai, Japan

    Satoshi Murata

  2. Intelligent Systems Institute Field Robotics Research Group, National Institute of Advanced Science and Technology (AIST), 1-1-1 Umezono, 305-8568, Tsukuba, Ibaraki, Japan

    Haruhisa Kurokawa

Authors
  1. Satoshi Murata
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Haruhisa Kurokawa
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Satoshi Murata .

Rights and permissions

Reprints and permissions

Copyright information

© 2012 Haruhisa Kurokawa, Satoshi Murata

About this chapter

Cite this chapter

Murata, S., Kurokawa, H. (2012). Self-Organization of Motion. In: Self-Organizing Robots. Springer Tracts in Advanced Robotics, vol 77. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54055-7_8

Download citation

  • DOI: https://doi.org/10.1007/978-4-431-54055-7_8

  • Published:

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-54054-0

  • Online ISBN: 978-4-431-54055-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation