S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In International Conference on Robotics and Automation, pages 441--448, San Diego, CA., May 1994.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....modules and ways of composing them were proposed. In [21] Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in di#erent ways. This work also presents extensive examples of locomotion and self reconfiguration in simulation. In [10, 23, 20, 11], Murata et al. consider a system of modules that can achieve planar motion by walking over one another. The reconfiguration motion is actuated by varying the polarity of electromagnets that are embedded in each module. More recently [12] this group developed a twelve DOF module capable of ....

S. Murata, H. Kurokawa, and Shigeru Kokaji. Self-assembling machine. In Proceedings of the 1994.

....and, thus, relatively inexpensive. In particular, each robot is only capable of sensing its immediate surrounding, performing computations on the sensed data, and moving towards the computed destination; its behavior is an (endless) cycle of sensing, computing, moving and being inactive (e.g. see [2, 7 9]) On the other hand, the robots should be able, together, of performing rather complex tasks. Examples of typical basic tasks are gathering, leader election, pattern formation, scattering, etc. A very important set of questions refer to determining the robots capabilities; that is how simple ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Robotics and Autom., pages 441-448, 1994.

....from an engineering and from an artificial intelligence point of view. Leading research activities in the engineering area include the Cellular Robotic System (CEBOT) of Kawaguchi et al. [20] the Swarm Intelligence of Beni et al. 4] the Self Assembly Machine ( fructum ) of Murata et al. [22], etc. In the AI community there has been a number of remarkable studies, e.g. on social interaction leading to group behavior by Mataric [21] on selfish behavior of cooperative robots in animal societies by Parker [24] on primitive animal behavior in pattern formation by Balch and Arkin [2] to ....

S. Murata, H. Kurokawa, and S. Kokaji. Selfassembling machine. In Proc. IEEE Conf. on Robotics and Autom., pages 441--448, 1994.

....moving independently. Several studies have been conducted in recent years in di erent elds. In the engineering area we can cite the Cellular Robotic System (CEBOT) of Kawaguchi et al. 9] the Swarm Intelligence of Beni et al. 3] and the SelfAssembly Machine ( fructum ) of Murata et al. [11]. In the AI community there has been a number of remarkable studies: social interaction leading to group behavior by Matari c [10] sel sh behavior of cooperative robots in animal societies by Parker [12] and primitive animal behavior in pattern formation by Balch and Arkin [2] The shared ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Robotics and Autom., pages 441-448, 1994.

....this problem has been approached mostly from an empirical point of view. Among the studies conducted in the engineering area, we can cite the Cellular Robotic System (CEBOT) of Kawaguchi et al. 14] the Swarm Intelligence of Beni et al. 3] the Self Assembly Machine ( fructum ) of Murata et al. [16], etc. A number of remarkable studies has been done also in the AI community, e.g. on social interaction leading to group behavior by Mataric [15] on selfish behavior of cooperative robots in animal societies by Parker [17] on primitive animal behavior in pattern formation by Balch and Arkin ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Rob. and Autom., pages 441--448, 1994.

....this problem has been approached mostly from an empirical point of view. Among the studies conducted in the engineering area, we can cite the Cellular Robotic System (CEBOT) of Kawaguchi et al. 14] the Swarm Intelligence of Beni et al. 3] the Self Assembly Machine ( fructum ) of Murata et al. [16], etc. A number of remarkable studies has been done also in the AI community, e.g. on social interaction leading to group behavior by Mataric [15] on selfish behavior of cooperative robots in animal societies by Parker [17] on primitive animal behavior in pattern formation by Balch and Arkin ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Rob. and Autom., pages 441--448, 1994.

....units making up the system can be massproduced at a lower cost. A large system consisting of many elements is also less prone to catastrophic failures due to its capability of removing the malfunctioning elements from the group and reconfiguring itself, sometimes by sacrificing additional modules [17]. Although the large number of modules guarantees there will be at least one module failing after a specified time, the same number would provide some redundancy that is useful in overcoming the problem [10] In order to have modular self reconfigurability, the system must have several essential ....

S. Murata, H. Kurokawa, and S. Kokaji, "Self-assembling Machine," Proc. IEEE Intl. Conf. on Robotic and Auto., pp. 441-448, 1994.

....modules and ways of composing them were proposed. In [22] Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in di erent ways. This work also presents extensive examples of locomotion and self recon guration in simulation. In [11, 24, 21, 12], Murata et al. consider a system of modules that can achieve planar motion by walking over one another. The recon guration motion is actuated by varying the polarity of electromagnets that are embedded in each module. More recently [13] this group developed a twelve DOF module capable of ....

....Atom and actuating the expansion or compression mechanism (as shown in Figure 7. An individual module can not relocate without help; however, by contracting and expanding a group of modules in a coordinated way, Atoms can move relative to a structure. Unlike all other proposed unit modules [22, 11, 13, 14, 8, 9] which can relocate only by traveling on the surface of a structure, Crystalline Atoms can be relocated by traveling through the volume of a Crystal. This interesting property of Crystalline robots is illustrated in Figure 8. The goal is to move the Atom on the surface of the cubic Crystal to some ....

S. Murata, H. Kurokawa, and Shigeru Kokaji. Self-assembling machine. In Proceedings of the

....moving independently. Leading research has been conducted in recent years in di erent elds. In the engineering area we can cite the Cellular Robotic System (CEBOT) of Kawaguchi et al. 8] the Swarm 1 Intelligence of Beni et al. 3] and the Self Assembly Machine ( fructum ) of Murata et al. [10]. In the AI community there has been a number of remarkable studies: social interaction leading to group behavior by Matari c [9] sel sh behavior of cooperative robots in animal societies by Parker [11] and primitive animal behavior in pattern formation by Balch and Arkin [2] The shared ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Robotics and Autom., pages 441-448, 1994.

....completed more quickly. Among the interesting studies that have been done in a variety of elds, we can cite, in the engineering area, the Cellular Robotic System (CEBOT) of Kawaguchi et al. 8] the Swarm Intelligence of Beni et al. 3] and the Self Assembly Machine ( fructum ) of Murata et al. [10]. A remarkable e ort on the study of the problem has been conducted also in the AI area, analyzing, for example, social interaction leading to group behavior [9] sel sh behavior of cooperative robots in animal societies [11] or primitive animal behavior in pattern formation [2] for a survey, ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Robotics and Autom., pages 441-448, 1994.

....We continue with algorithms that implement the locomotion gaits. Finally, we discuss our experiments. 2 Related work Our work draws on previous experiences with navigation algorithms [Lat91] designing self organizing robots, and designing minimalist robot systems [DJR97] We are inspired by [Mu94, Yim93, PCSC] who introduced the first systems capable of selfreconfiguration in the plane. Related work in designing modular robots includes [PK95, PK93, NS96, HS96] In [PK95] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 modules is proposed. The ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....research, the hardware implementation was limited 7 to two dimensional systems. Our work is intended to extend the theory and implementation into three dimensional self reconfigurable systems. Other seminal work in the field of self reconfiguring robot systems can be found in [Mu94, YM 97] [Mu94] describes a two dimensional self reconfigurable robot system based on the fracta module. In this system a set of modules achieves planar reconfigurability by exploiting changes in the polarity of magnetic fields. The modules are supported on wheels and can roll autonomously about each other to ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994. 75

....[1] Several specialized modules and ways of composing them were proposed. Yim studies multiple modes of locomotion that are achieved physically by manually composing a few basic elements in di#erent ways [17] In [18] Yim proposes a dodecahedron based module capable of selfreconfiguration. In [8, 15, 9], Murata et al. consider a system of modules called Fracta that can achieve planar motion by walking over one another, with actuation provided by varying the polarity of embedded electromagnets, and generalize to 3 D motion in [10] In [11] Chirikjian et al. describe metamorphic robots that can ....

S. Murata, H. Kurokawa, and Shigeru Kokaji. Self-assembling machine. In Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....mobile units has been approached mostly from an empirical point of view. Among the studies conducted in the engineering area, we can cite the Cellular Robotic System (CEBOT) of Kawaguchi et al. [13] the Swarm Intelligence of Beni et al. 3] the Self Assembly Machine ( fructum ) of Murata et al. [15], etc. A number of remarkable studies has been done also in the AI community, e.g. on social interaction leading to group behavior by Matari c [14] on sel sh behavior of cooperative robots in animal societies by Parker [16] on primitive animal behavior in pattern formation by Balch and Arkin ....

S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. IEEE Conf. on Robotics and Autom., pages 441-448, 1994.

.... depends on the hardware and can include module deformation to crawl over neighboring modules [3, 9] or to expand and contract to slide over neighbors [10] Alternatively, moving modules may be constrained to rigidly maintain their original shape, requiring them to roll over neighboring modules [6, 12, 13]. Shape changing in these composite systems is envisioned as a means to accomplish various tasks, such as bridge building, satellite recovery, or tumor excision [9] The complete interchangeability of the modules provides a high degree of system fault tolerance. Also, self recon guring robotic ....

.... (e.g. interplanetary space, undersea depths) The motion planning problem for a metamorphic robotic system is to determine a sequence of module motions required to go from a given initial con guration (I) to a desired goal con guration (G) Many developers of self recon gurable robotic systems [5, 6, 7, 9, 10, 11, 12] have devised motion planning strategies speci c to the hardware constraints of their prototype robots. Most of the existing motion planning strategies rely on centralized algorithms to plan and supervise the motion of the system components [1, 3, 5, 9, 10, 11] Others use distributed approaches ....

[Article contains additional citation context not shown here]

S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In Proc. of IEEE Intl. Conf. on Robotics and Automation, pages 441-448, 1994.

.... depends on the hardware and can include module deformation to crawl over neighboring modules [3, 9] or to expand and contract to slide over neighbors [10] Alternatively, moving modules may be constrained to rigidly maintain their original shape, requiring them to roll over neighboring modules [6, 12, 13]. Shape changing in these composite systems is envisioned as a means to accomplish various tasks, such as bridge building, satellite recovery, or tumor excision [9] The complete interchangeability of the modules provides a high degree of system fault tolerance. Also, self recon guring robotic ....

.... (e.g. interplanetary space, undersea depths) The motion planning problem for a metamorphic robotic system is to determine a sequence of module motions required to go from a given initial con guration (I) to a desired goal con guration (G) Many developers of self recon gurable robotic systems [5, 6, 7, 9, 10, 11, 12] have devised motion planning strategies speci c to the hardware constraints of their prototype robots. Most of the existing motion planning strategies rely on centralized algorithms to plan and supervise the motion of the system components [1, 3, 5, 9, 10, 11] Others use distributed approaches ....

[Article contains additional citation context not shown here]

S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In Proc. of IEEE Intl. Conf. on Robotics and Automation, pages 441-448, 1994.

....a Metamorphic Robot that simplifies the planning process is that the centers of all of its modules conform to a regular lattice. Additionally, any module on a continuous surface of the robot can move to any lattice point on that same continuous surface, without requiring any other modules to move. [MKuKo] and [PaChSCh] describe two dimensional systems that possess the above two qualities. While the algorithms of [ChPa] generalize to the threedimensional case, mechanical constraints make it more difficult to produce a module with the above qualities that is capable moving in three dimensions In ....

....component types, and how to reconfigure these systems by changing the ways in which the components are used. self reconfiguring robots are a special kind of modular robot. These robots are capable of reconfiguring without external intervention. Previous work in self reconfiguring robotics includes [MKuKo, YMTKuKo, PaChSCh, ChPa, KRVM]. MKuKo, YMTKuKo, PaChSCh, ChPa] consider twodimensional self reconfiguring systems. These systems have properties that allow the application of known planning algorithms for self reconfiguring systems. KRVM] presents a three dimensional selfreconfiguring system. General planning algorithms for ....

[Article contains additional citation context not shown here]

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....includes robots in which modules are reconfigurable using external intervention [CLBD92] In [FK90] a cellular robotic system is proposed to coordinate a set of specialized modules. Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. [Mu94] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots that can aggregate as two dimensional structures with varying geometry and implement planar locomotion. Task reconfigurable ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....[CB97] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. [Mu94] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots that can aggregate as stationary two dimensional structures with varying geometry and implement planar locomotion. Our ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....approach has been shown to be very promising for formation of geometric patterns, collision avoidance, and certain applications that require cooperation of mobile robots. See, for example, the Cellular Robotic System (CEBOT) 4] the Swarm Intelligence [1] the Self Assembling Machine ( fractum ) [6], formation and agreement problems for anonymous mobile robots by the authors et al. 8] 9] 10] and others [2] 5] 7] The goal of this paper is to give a formal discussion on the power and limitations of the distributed control method for certain formation and agreement problems involving ....

S. Murata, H. Kurokawa and S. Kokaji, "Self-assembling machine," in Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 441--448.

....robots were first proposed by a number of robotics researchers. Fukuda and Kawauchi [3] proposed a cellular robotic system to coordinate a set of specialized modules. Yim [15] studied how to achieve multiple modes of locomotion using robots composed by a few basic modules. Murata et al. [5] and Yoshida et al. 17] separately, designed and constructed systems that can achieve planar motion by arranging modules. Pamecha et al. 11] described metamorphic robots that can aggregate as stationary 2 D structures with varying geometry and that implement planar locomotion. Kotay et al. 4] ....

S. Murata, H. Kurokawa, and S. Kokaji. Selfassembling machine. In Proc. IEEE Int. Conf. Robotics Automat., pages 441--448, 1994.

....[CB97] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implemen tation issues. Yim93] studies multiple modes of locomotion that are achieved by composing a few basic elements in different ways. [Mu94] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. PCSC] describes metamorphic robots that can aggregate as stationary two dimensional structures with varying geometry and implement planar locomotion. Our ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....tasks that require self assembly and fourth, they provide a robot system with fault tolerance. If a module fails, the rest of the system can self organize to eliminate the bad module from the system and replace its funtion. We build on the ground breaking work of [ Pamecha et al., 1996; Yim 1993; Murata et al., 1994; Fukuda and Kawauchi, 1990 ] who introduced the first robot systems capable of self reconfiguration. We have designed a small and simple robotic module we call a Molecule capable of self reconfiguration in three dimensions. The Molecule (see Figure 1) is capable of independent movement on a ....

....1997 ] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. Yim 1993 ] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. Murata et al., 1994; Yoshida et al., 1997 ] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. Figure 2: The CAD model used to develop the current Robotic Molecule prototype. This is our second prototype. Figure 3 shows the CAD ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

....1997 ] describe a theoretical framework for counting the number of unique configurations realizable from a set of modules and joints, without considering implementation issues. Yim 1993 ] studies multiple modes of locomotion that are achieved by composing a few basic elements in di#erent ways. Murata et al., 1994; Yoshida et al., 1997 ] consider a system of modules that can achieve planar motion by walking over each other due to changes in the polarity of magnetic fields. Pamecha et al., 1996 ] describes metamorphic robots that can aggregate as stationary two dimensional structures with varying geometry ....

S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In International Conference on Robotics and Automation, pages 441--448, San Diego, CA., May 1994.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In E. Straub and R. Spencer Sipple, editors, Proceedings of the International Conference on Robotics and Automation. Volume 1, pages 441-- 448. IEEE Computer Society Press, 1994.

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S. Murata, H. Kurokawa and S. Kokaji, Self-assembling machine, Proceedings of IEEE International Conference on Robotics and Automation, (1994), 441--448.

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S. Murata, H. Kurokawa and S. Kokaji, Self-assembling machine, Proceedings of IEEE International Conference on Robotics and Automation, (1994), 441-448.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In Proceedings of the IEEE pages 441--448, San Diego, USA, 1994.

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S. Murata, H. Kurokawa and S. Kokaji, Self-assembling machine, Proceedings of IEEE International Conference on Robotics and Automation, (1994), 441--448.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In Proc. of the IEEE Int. Conf. on Robotics & Automation, pages 441--448, San Diego, USA, 1994.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In Proceedings, IEEE Int. Conf. on Robotics & Automation (ICRA'94), pages 441--448, San Diego, California, USA, 1994.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-Assembling Machine. In Proc. 1994 IEEE Conference on Rob. and Autom., pages 441--448.

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S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-Assembling Machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

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S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-Assembling Machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

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S. Murata, H. Kurokawa, and S. Kokaji. Self-assembling machine. In Proc. of IEEE Intl. Conf. on Robotics and Automation, pages 441-448, 1994.

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S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-Assembling Machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

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S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-Assembling Machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

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S. Murata, H. Kurokawa, and Shigeru Kokaji, Self-assembling machine, in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, 1994.

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