【正文】 vention the robot is a selfreconfigurable robot. Refer to Fig. 1 for an example of a module of a selfreconfigurable robot or refer to one of the other physical realized systems described in [7,8,10–15,17,21,23] . Several potential advantages of selfreconfigurable robots over traditional robots have been pointed out in literature: ? Versatility. The modules can be bined in different ways making the same robotic system able to perform a wide range of tasks. ? Adaptability. While the selfreconfigurable robot performs its task it can change its physical shape to adapt to changes in the environment. ? Robustness. Selfreconfigurable robots consist of many identical modules and therefore if a module fails it can be replaced by another. ? Cheap production. When the final design for the basic module has been obtained it can be mass produced. Therefore, the cost of the individual module can be kept relatively low in spite of its plexity. Selfreconfigurable robots can solve the same tasks as traditional robots, but as Yim et al. [23] point out。我們的實(shí)驗和討論的基礎(chǔ)上，我們 CON 包括控制系統(tǒng)，基于角色的控制的基礎(chǔ)是最小的，健壯的通信錯誤，和強(qiáng)大的偵察配置。 自重構(gòu)機(jī)器人，可以解決傳統(tǒng)機(jī)器人相同的任務(wù)，但圖 [23]機(jī)器人表明任務(wù)和環(huán)境先驗往往是便宜，以建立一個專用機(jī)器人的應(yīng)用程序。我們發(fā)現(xiàn)，這是很難邪教組織在全球范圍內(nèi)設(shè)計系統(tǒng)，再后來嘗試在地方一級執(zhí)行，因為 經(jīng)常硬件的屬性被忽略，一個緩慢的機(jī)器人系統(tǒng)，可能的結(jié)果。此外，如果組態(tài)中變更或模塊數(shù)量改變表被改寫。通過子連接器 的每一個模塊已經(jīng)完成了指定的分?jǐn)?shù) 240。這部分的算法僅可以使一個單一的模塊，反復(fù)執(zhí)行指定的動作序列。模塊有內(nèi)建電池，但這些沒有提供足夠的電力，為這里的實(shí)驗報告，并有脫穎而出的模塊通過電纜供電。 2。這個啟動階段后，它需要保持恒定的時間 MOD ULES 花樣暗示，該算法的尺度。我們已經(jīng)表明如何實(shí)現(xiàn)在 CONRO 系統(tǒng) [19]六足行走的步態(tài)。該算法具有以下屬性：分布式，可擴(kuò)展性，同質(zhì)化，和最小的。如果他們都在以不同的順序重新連接，他們將很快同步再次作為一個毛毛蟲的行為。程序很簡單。這些結(jié)果被用來支持我們的主張，所實(shí)施的控制系統(tǒng)是最小的。這強(qiáng)制孩子被延遲 D相比其母公司。這樣的單個模塊的行動是從同步機(jī)制，更快和更可靠的 SYSTEM 脫鉤。這種同步需要時間為 O（ n），其中 n 為模塊的數(shù)目。 SIM 卡類似的方法也可用于由博季諾夫等 [1,2]和巴特勒等人 [4]。在其中魯棒性的重要性的任務(wù)，它可能是最好使用自重構(gòu)機(jī)器人。如果重新配置機(jī)器人內(nèi)置的模塊可以連接和斷開，無需人工干預(yù)，機(jī)器人是自重構(gòu)機(jī)器人。英文原文 A simple approach to the control of lootion in selfreconfigurable robots K. St248。參考圖 1的自重構(gòu)機(jī)器人的模塊或參考其他物理實(shí)現(xiàn)描述的系統(tǒng)之一 [7,8,1015,17,21,231]。自重構(gòu)機(jī)器人的實(shí)際應(yīng)用中，即使仍然可以看到，大量的應(yīng)用程序已經(jīng)設(shè)想 [17,23]：地震發(fā)生后，消防，搜尋和救援的戰(zhàn)場，行星探測，海底采礦，空間結(jié)構(gòu)建設(shè)。 相關(guān)工作 相關(guān)工作在這里提出，我們集中的自重構(gòu)機(jī)器人的運(yùn)動控制算法。這會減慢系統(tǒng)很大，因為它有每個動作之前完成。此外，也沒有必要進(jìn)行修改，如果模塊數(shù)量變化的算法。 從時間的模塊連接，它需要時間比例同步為所有模塊組態(tài)中的樹的高度 d次。我們還報告的運(yùn)動模式的速度，但是這應(yīng)該只能算是一個例子，原因是， 在我們的系統(tǒng)的限制因素是如何強(qiáng)大的模塊物理，電機(jī)多么強(qiáng)大，多少力量，我們可以拉從電源。主循環(huán)包含13行代碼不包括注釋和標(biāo)簽（如圖 2）。這也意味著，該系統(tǒng)具有強(qiáng)大的模塊故障。我們已經(jīng)表明算法可以輕松地被用來實(shí)現(xiàn)毛蟲和響尾蛇喜歡運(yùn)動模式。在相關(guān)工作中，我們已經(jīng)研究了如何我們可以擴(kuò)展的算法，以處理更復(fù)雜的運(yùn)動步態(tài)?；诮巧目刂苾H僅是初步 的模塊數(shù)量而定，因為它的cides 多久同步信號的信號需要通過系統(tǒng)傳播。模塊連接后，他們同步， nize 正弦波沿著旅行機(jī)器人的長度參考圖。處理板載 BASIC STAMP2 處理器的照顧。骨架的算法如下： t=0 while(true) { if(t=d)then signal child modules if parent signals then t=0 perform action A(t) t=(t+1) modulus T } 模塊一再忽略了兩個循環(huán)的第一線，經(jīng)過一個循環(huán)計數(shù)器 ?參數(shù) eterized 的行動序列。這個序列可能來自步態(tài)控制表列，但在我們實(shí)施的關(guān)節(jié)角度計算使用一個循環(huán)周期T功能。這意味著該模塊需要的 ID。 它是一個開放的問題，如果一個自上而下或自下而上的方法提供了最好的結(jié)果。因此，單個模塊的成本可以保持比較低的，盡管它的復(fù)雜性。我們使用基于角色的控制，實(shí)施毛蟲，響尾蛇，并滾動軌道中的 CONRO 8 個模塊組成的自我重構(gòu)機(jī)器人步態(tài)。 in applications where the task and environment are given a priori it is often cheaper to build a special purpose robot. Therefore, applications best suited for selfreconfigurable robots are applications where some leverage can be gained from the special abilities of selfreconfigurable robots. The versatility of these Fig. 1. A CONRO module. The three male connectors are located in the lower right corner. The female connector is partly hidde n from view in the upper left corner. robots make them suitable in scenarios where the robots have to handle a range of tasks. The robots can also handle tasks in unknown or dynamic environments, because they are able to adapt to these environments. In tasks where robustness is of importance it might be desirable to use selfreconfigurable robots. Even though real applications for selfreconfigurable robots still are to be seen, a number of applications have been envisioned [17,23]: fire fighting, search and rescue after an earthquake, battlefield reconnaissance, plaary exploration, undersea mining, and space structure building. Other possible applications include entertainment and service robotics. The potential of selfreconfigurable robots can be realized if several challenges in terms of hardware and software can be met. In this work we focus on one of the challenges in software: how do we make a large number of connected modules perform a coordinated global behavior? Specifically we address howto design algorithms that will make it possible for selfreconfigurable robots to loote efficiently. In order for a lootion algorithm to be useful it has to preserve the special properties of these robots. From the advantages and applications mentioned above we can extract a number of guidelines for the design of such a control algorithm. The algorithm should be distributed to avoid having a single point of failure. Also the performance of the algorithm should scale with an increased number of modules. It has to be robust to reconfiguration, because reconfiguration is a fundamental capability of selfreconfigurable robots. Finally, it is desirable to have homogeneous software running on all the modules, because it makes it possible for any module to take over if another one fails. It is an open question if a topdown or a bottomup approach gives the best result. We find that it is difficult to design the system at the global level and then later try to make an implementation at the local level,because often properties of the hardware are ignored and a slow robotic system might be the result. Therefore, we use a bottomup approach where the single module is the basic unit of design. That is, we move from a global design perspective to a bottomup one where the important design element is the individual module and its interactions with its neighbors. The global behavior of the system then emerges from the local interaction between individual modules. A similar approach is also use