Self-Reconfiguring Robots in the USA (特集 モジュラーロボット)

likely to succeed than a fixed-architecture robot. Selfreconfiguring (SR) robotics addresses these issues: in an SR robot, hundreds of small modules autonomously organize and reorganize as geometric structures to best fit the terrain on which the robot has to move, the shape of the object the robot has to manipulate, or the sensing needs for the given task. For example, the robot could synthesize a snake shape to travel through a narrow tuzinel, and then morph into a six-legged insect to navigate on rough terrain upon exit. This vision was introduced by Fukuda and Kawauchi [1] with CEBOT (cell structured robot). The first proposed SR robot, CEBOT was described as an implementation of the 1987 idea of a Dynamically Recort figurable Robotic System (DRRS) [2] . The definition of DRRS parallels our current conception of self-reconfiguring robots the system is made up of robotic modules (cells) which can attach and detach from each other autonomously to optimize their structure for a given task. Self-reconfiguration provides a paradigm shift for studying the fundamental principles of organization and reorganization in physical systems. In robotics, self reconfiguration defines a rich class of questions about designing, controlling, and using massively distributed systems of robots. Self reconfiguration also offers fertile

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