Distributed Metamorphosis Control of a Modular Robotic System M-TRAN

Metamorphosis by a self-reconfigurable modular robot is presented in this report. We have developed a new prototype, “M-TRAN III”, which is improved in its high speed and rigid connection mechanism. Using its integrated design of a multi-CPU controller with various programming tools, experiments of self-reconfiguration were successfully carried out through single master synchronous control. Based on the obtained results, decentralized and locally synchronous control was accomplished, which controlled self-reconfiguration of up to 20 modules using the same program.

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