Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure (Numerical Expression of Transformation Criteria of "CHOBIE II" and Motion Experiments)

This study describes a group robotic system “CHOBIE II.” The feature of CHOBIE II is a function to form a self-reconfigurable structure. We focus on a motion planning method to obtain control algorithms. For this purpose, we introduce a numerical criterion for generating transformations. The criterion is expressed with a matrix form of 32 parameters. The criteria facilitate implementation of various motions of CHOBIE II, not requiring a high information processing unit. We demonstrate two types of transformations of CHOBIE II with the numerical expression. It is confirmed that the proposed method has advantages of simplification and downsizing of control algorithms of the modules.