Hormone-Controlled Metamorphic Robots

Behnam Salemi, Wei-Min Shen, and Peter Will. Hormone-Controlled Metamorphic Robots. In Proc. 2001 IEEE Intl. Conf. on Robotics and Automation, pp. 4194–4199, 2001.

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Abstract

Metamorphic robots with shape-changing capabilities provide a powerful and flexible approach to complex tasks in unstructured environments. However, due to their dynamic topology and decentralized configuration, metamorphic robots demand control mechanisms that go beyond those used by conventional robots. This paper builds on our previous results of hormone-based control, and develops a novel distributed control algorithm called CELL that can select, synchronize, and execute gaits and other reconfiguration actions without assuming any global configuration knowledge. This algorithm is flexible enough to deal with changes of configuration, and can resolve conflicts between locally selected actions and manage multiple active hormones for producing coherent global effects.

BibTeX Entry

@InProceedings{	  salemi2001hormone-controlled-metamorphic-robots,
  abstract	= {Metamorphic robots with shape-changing capabilities
		  provide a powerful and flexible approach to complex tasks
		  in unstructured environments. However, due to their dynamic
		  topology and decentralized configuration, metamorphic
		  robots demand control mechanisms that go beyond those used
		  by conventional robots. This paper builds on our previous
		  results of hormone-based control, and develops a novel
		  distributed control algorithm called CELL that can select,
		  synchronize, and execute gaits and other reconfiguration
		  actions without assuming any global configuration
		  knowledge. This algorithm is flexible enough to deal with
		  changes of configuration, and can resolve conflicts between
		  locally selected actions and manage multiple active
		  hormones for producing coherent global effects. },
  author	= {Behnam Salemi and Wei-Min Shen and Peter Will},
  booktitle	= icra-01,
  pages		= {4194--4199},
  title		= {Hormone-Controlled Metamorphic Robots},
  year		= {2001}
}