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M-TRAN: self-reconfigurable modular robotic system
- S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, S. Kokaji
- Computer Science
- 1 December 2002
A novel robotic system called modular transformer (M-TRAN) is proposed, a distributed, self-reconfigurable system composed of homogeneous robotic modules that is able to metamorphose into robotic configurations such as a legged machine and generate coordinated walking motion without any human intervention.
- S. Murata, H. Kurokawa, S. Kokaji
- Computer ScienceProceedings of the IEEE International Conference…
- 8 May 1994
The design of a machine which is composed of homogeneous mechanical units, and the control software of the unit which realizes "self-assembly," one of the basic functions of this machine is developed.
Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System
- H. Kurokawa, K. Tomita, A. Kamimura, S. Kokaji, Takashi Hasuo, S. Murata
- Computer ScienceInt. J. Robotics Res.
- 1 March 2008
A new prototype of a self-reconfigurable modular robot, M-TRAN III, has been developed, with an improved fast and rigid connection mechanism and system homogeneity and scalability were maintained.
A 3-D self-reconfigurable structure
- S. Murata, H. Kurokawa, E. Yoshida, K. Tomita, S. Kokaji
- Computer ScienceProceedings. IEEE International Conference on…
- 16 May 1998
A prototype unit is designed and built to examine the feasibility of the 3-D self-reconfigurable concept, the design of the unit, method of reconfiguration, hardware implementation, and results of preliminary experiments are shown.
Innovation by in-wheel-motor drive unit
- S. Murata
- 1 June 2012
The responsiveness of IWM raises the performance of the dynamic control to an even higher level and combines electric drive and IWM enables both good vehicle dynamics and a roomy interior.
Automatic locomotion design and experiments for a Modular robotic system
- A. Kamimura, H. Kurokawa, E. Yoshida, S. Murata, K. Tomita, S. Kokaji
- Engineering, Computer ScienceIEEE/ASME Transactions on Mechatronics
- 5 July 2005
This study proposes a unified framework for automatically designing an efficient locomotion controller suitable for any module configuration and verified the method by software simulations and hardware experiments, in which the modular robotic system, named M-TRAN II, performed stable and effective locomotion in various configurations.
This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, the authors can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors.
M-TRAN II: metamorphosis from a four-legged walker to a caterpillar
- H. Kurokawa, A. Kamimura, E. Yoshida, K. Tomita, S. Kokaji, S. Murata
- Computer ScienceProceedings IEEE/RSJ International Conference on…
- 27 October 2003
Hardware design, developed software and experiments are presented in this paper and various improvements are integrated in order to realize complicated reconfigurations and versatile whole body motions in M-TRAN II.
Distributed adaptive locomotion by a modular robotic system, M-TRAN II
- A. Kamimura, H. Kurokawa, E. Yoshida, K. Tomita, S. Kokaji, S. Murata
- Engineering, Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 28 September 2004
A distributed control mechanism using a CPG controller which enables adaptive locomotion by modular robots and a decentralized control mechanism for detecting the situation that the robot is stuck and initiating transformation to another shape for recovering the situation.
Toward reliable algorithmic self-assembly of DNA tiles: a fixed-width cellular automaton pattern.
This work uses DNA tiles and DNA origami to grow crystals containing a cellular automaton pattern, providing evidence that programmable molecular self-assembly may be sufficient to create a wide range of complex objects in one-pot reactions.