Special Notice
IEEE Xplore is transitioning to HTTPS on 9 April 2018. Customer access via EZproxy will require version 6 or higher with TLS 1.1 or 1.2 enabled.
Review our EZproxy Upgrade Checklist to ensure uninterrupted access.

Formation of Morphology anti Morpho-Function in a Linear-Cluster Robotic System

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$15 $15
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, books, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)

This study focuses on the morphology formation and morpho-function in a linear-cluster robotic system which is composed of linearly connected autonomous mobile modules. The equations of motion of the linear-cluster robotic system are derived under dynamic interaction with its physical environment, and computer simulations are performed for two cases of physical environment condition: one is for two dimensional friction plane and the other for a maze-like arena surrounded with walls. When each module has simple wIes of locomotion determined according to the direction of interaction force acting from a neighboring module, various morphologies have been formed. When adding intelligence of obstacle avoidance and locomotion towards the object and goal signals to the modules, the linear-cluster robotic system has achieved the task to find the object. enclose it and then carry the object to the goal destination by changing its morphology. Finally some of the future works are discussed from the view of balancing the complexities of morphology and intelligence in cluster robotic systems.