Distributed self-reconfiguration control of modular robot M-TRAN

Geometric self-reconfiguration sequences and a distributed control method are developed for the modular robot M-TRAN. Large scale self-reconfiguration contains several clusters of modules moving in parallel. A decentralized and asynchronous control is suitable for such a task. A multi thread type simulation program was developed to design and verify such self-reconfiguration sequences. A distributed controller system was developed for the new M-TRAN hardware, which can realize decentralized and asynchronous control of modules. Its basic functions were verified by experiments.

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