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JRM Vol.13 No.2 pp. 212-219
doi: 10.20965/jrm.2001.p0212
(2001)

Paper:

Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy

Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, and Haruhisa Kurokawa

Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tskuba-shi, Ibaraki, 305-83564 Japan

Received:
October 2, 2000
Accepted:
January 4, 2001
Published:
April 20, 2001
Keywords:
self-reconfiguration, modular robotic system, micro-robot, SMA actuator
Abstract

This paper presents a micro self-reconfigurable modular robotic system using shape memory alloy (SMA) actuators. Composed of identical robotic modules, the system can actively configure various structures. The motion of module is based on 2-dimensional rotation using an actuator mechanism with 2 SMA torsion coil springs. The micro-module measures 2cm cube and weighs 15g, half the size of the previous model. The feasibility of reconfiguration was demonstrated using micro-robotic modules. We also show an extended 3-dimensional (3D) model and discuss a distributed self-reconfiguration algorithm for large modular structures.

Cite this article as:
Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, and Haruhisa Kurokawa, “Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy,” J. Robot. Mechatron., Vol.13, No.2, pp. 212-219, 2001.
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