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Emergent Behaviors of a Linear Cluster Robot System: Enclosing and Molding by CA Method
Sumiaki Ichikawa*, Kentaro Suzuki**, and Fumio Hara**
*Tokyo University of Science, Suwa, 5000-1 Toyohira, Chino-shi, Nagano-ken 391-0292, Japan
**Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo
Received:October 20, 2003Accepted:December 16, 2003Published:June 20, 2004
Keywords:modular robot, emergent behavior, cluster robot, reconfigurable robot, formation, molding
Abstract
This paper discusses emergent abilities of a cluster robot system and the design methodology of an algorithm for a behavior of the cluster robot system. A cluster robot system is an aggregation of simple robot modules, each including a locomotive device and several range sensors, that are interconnected by passive joints. Each robot module performs one of four types of behaviors, approaching, avoiding, staying, and complying. A cluster robot system can be designed from robot modules of same or mixed types. A cluster robot system interacts dynamically with its environment and other robot modules. A cluster robot system configured in a specific order of same or mixed types robot modules exhibits a speicific behavior according to that configuration. That is, a configuration of robot modules is an algorithm for a behavior of a cluster robot system. We call a configuration of robot modules a “Configuration Algorithm (CA)” and this design method by CA the “CA Method.” We assign a cluster robot a set of tasks, self-formation, enclosing an object, and molding an object. We experimentally demonstrate that emerging task abilities in a cluster robot system depend on the CA. The cluster robot interacts, for example, with an initially linear yielding object, then forms a stack of the object by our introduced emergent behaviors, pushing, wiping, buckling, and rolling-up. In another example, a cluster robot gathers all discrete objects within a large area based on the body size of the cluster robot.
Cite this article as:S. Ichikawa, K. Suzuki, and F. Hara, “Emergent Behaviors of a Linear Cluster Robot System: Enclosing and Molding by CA Method,” J. Robot. Mechatron., Vol.16 No.3, pp. 278-285, 2004.Data files:
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Copyright© 2004 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
