Hormone-inspired Adaptive Distributed Synchronization of Reconfigurable Robots

In this paper, we present a hormone-inspired adaptive distributed synchronization of reconfiguration robots. The main approach is to use a combination of discrete event-driven hormone communication and continuous time-controlled motor motion. Without any prior knowledge, all the modules’ speed can be self-adjusted to adapt to each other to achieve a collaborative motion. Simulation and experimental results show that our method is robust to accuracy of local timer, configuration change and unexpected disturbance.