Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control
A swarm system is a branch of a collection of robotic systems composed of a lot of “simple” robots. In general, group cooperative behaviors require a considerable amount of information, numerous sensors and complicated networks, which makes the designing of their control system much difficult; there...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2021-01-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/87/894/87_20-00112/_pdf/-char/en |
| _version_ | 1828125821004414976 |
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| author | Takayuki HARADA Yuichiro SUEOKA Hiro SHIGEYOSHI Keichiro MIYOSHI Yasuhiro SUGIMOTO Koichi OSUKA |
| author_facet | Takayuki HARADA Yuichiro SUEOKA Hiro SHIGEYOSHI Keichiro MIYOSHI Yasuhiro SUGIMOTO Koichi OSUKA |
| author_sort | Takayuki HARADA |
| collection | DOAJ |
| description | A swarm system is a branch of a collection of robotic systems composed of a lot of “simple” robots. In general, group cooperative behaviors require a considerable amount of information, numerous sensors and complicated networks, which makes the designing of their control system much difficult; therefore, a more natural and sensorless-based interaction is expected to aid the building of an easy-to-understand control scheme for elaborate swarm systems. This paper inspired by the collective motions of army ants focuses on a group behavior in which individuals can cooperate with each other using its own body. Army ants cooperate with one another to overcome large gaps, such as the gap between the tree and its leaf, wherein some ants form a pillar by connecting with one another, such that other ants can walk on it to cross the gap. This paper presents a sensorless swarm system in which the mechanical structure and the physical interaction of the system is only utilized. The collaborative obstacle-crossing task is considered, and the robotic swarm system, comprising the individual robot along with the mechanical interaction mechanism, is constructed. Through an obstacle climbing experiment and the passing of a gap, the validity of the mechanical interaction approach is examined. |
| first_indexed | 2024-04-11T15:26:10Z |
| format | Article |
| id | doaj.art-d5773c9929f14a4da5713ff3c4bd0f1e |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T15:26:10Z |
| publishDate | 2021-01-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-d5773c9929f14a4da5713ff3c4bd0f1e2022-12-22T04:16:15ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612021-01-018789420-0011220-0011210.1299/transjsme.20-00112transjsmeDemonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field controlTakayuki HARADA0Yuichiro SUEOKA1Hiro SHIGEYOSHI2Keichiro MIYOSHI3Yasuhiro SUGIMOTO4Koichi OSUKA5Graduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityA swarm system is a branch of a collection of robotic systems composed of a lot of “simple” robots. In general, group cooperative behaviors require a considerable amount of information, numerous sensors and complicated networks, which makes the designing of their control system much difficult; therefore, a more natural and sensorless-based interaction is expected to aid the building of an easy-to-understand control scheme for elaborate swarm systems. This paper inspired by the collective motions of army ants focuses on a group behavior in which individuals can cooperate with each other using its own body. Army ants cooperate with one another to overcome large gaps, such as the gap between the tree and its leaf, wherein some ants form a pillar by connecting with one another, such that other ants can walk on it to cross the gap. This paper presents a sensorless swarm system in which the mechanical structure and the physical interaction of the system is only utilized. The collaborative obstacle-crossing task is considered, and the robotic swarm system, comprising the individual robot along with the mechanical interaction mechanism, is constructed. Through an obstacle climbing experiment and the passing of a gap, the validity of the mechanical interaction approach is examined.https://www.jstage.jst.go.jp/article/transjsme/87/894/87_20-00112/_pdf/-char/endynamical mode switchingrobot modefield modeswarm systemmulti-agent cooperationmechanical interaction designsensorlessenvironmental modification |
| spellingShingle | Takayuki HARADA Yuichiro SUEOKA Hiro SHIGEYOSHI Keichiro MIYOSHI Yasuhiro SUGIMOTO Koichi OSUKA Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control Nihon Kikai Gakkai ronbunshu dynamical mode switching robot mode field mode swarm system multi-agent cooperation mechanical interaction design sensorless environmental modification |
| title | Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control |
| title_full | Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control |
| title_fullStr | Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control |
| title_full_unstemmed | Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control |
| title_short | Demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control |
| title_sort | demonstration of cooperative obstacle crossing by sensorless swarm robots based on the mechanical interaction aided field control |
| topic | dynamical mode switching robot mode field mode swarm system multi-agent cooperation mechanical interaction design sensorless environmental modification |
| url | https://www.jstage.jst.go.jp/article/transjsme/87/894/87_20-00112/_pdf/-char/en |
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