SELF-ORGANIZING METAMORPHOSIS OF SELF-RECONFIGURABLE ROBOTS

摘要

We discuss the essential technique for self organizing metamorphic of self reconfigurable robots. A universal model of description on self reconfigurable robots is proposed, and a self organizing metamorphic strategy of self reconfigurable robots based on discrete local intelligence is proposed. This strategy result in self organization to robot system through local communication between modules, and the complication of metamorphic algorithm is reduced. An illustration of 9 modules system is given to demonstrate the effectiveness of the strategy.