A fundamental study on reconfigurable robot system construction with central- and local intelligence

This paper deals with a study on reconfigurable robots. Firstly, the concept of the reconfigurable robot is described. Secondly, construction of the distributed robot control system consisting of local- and central intelligence is explained. Then the authors propose virtual velocity transmission algorithm (VVTA) as the best-suited control scheme for this system, and finally confirm by simulation the effectiveness of the proposed Algorithm