Metamodule control for the ATRON self-reconfigurable robotic system

David Johan Christensen, Esben Hallundbæk Østergaard, Henrik Hautop Lund

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Abstract

This paper presents an approach for distributed control for the individual modules in the ATRON self-recongurable robotic system. The ATRON is a lattice-type module, which has a single degree of freedom. The system is recongured using metamodules, which are simple, consisting of only three modules. But they have far higher capabilities than a single module, because they can crawl relatively freely on the surface of other modules.We let the metamodules emerge from the structure and migrate from one place to another, before they die and become structure again. Then, by controlling the ow of metamodules, we can change the shape of the structure. We introduce three different algorithms for migration of metamodules on the structure, and show that by using these, we can make the structure change its shape signicantly in a controllable manner.
Original languageEnglish
Title of host publicationProceedings of the The 8th Conference on Intelligent Autonomous Systems
Publication date2004
Pages685-692
Publication statusPublished - 2004
Externally publishedYes
EventThe 8th Conference on Intelligent Autonomous Systems - Amsterdam, Holland
Duration: 1 Jan 2004 → …

Conference

ConferenceThe 8th Conference on Intelligent Autonomous Systems
CityAmsterdam, Holland
Period01/01/2004 → …

Cite this

Christensen, D. J., Østergaard, E. H., & Lund, H. H. (2004). Metamodule control for the ATRON self-reconfigurable robotic system. In Proceedings of the The 8th Conference on Intelligent Autonomous Systems (pp. 685-692)