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英文原文Asimpleapproachtothecontroloflocomotioninself-reconfigurablerobotsK.Støya,∗,W.-M.Shenb,P.M.WillbTheAdaptronicsGroup,TheMaerskInstitute,UniversityofSouthernDenmark,Campusvej55,DK-5230OdenseM,DenmarkUSCInformationSciencesInstituteandComputerScienceDepartment,4676AdmiraltyWay,MarinadelRey,CA90292,USAAbstractInthispaperwepresentrole-basedcontrolwhichisageneralbottom-upapproachtothecontroloflocomotioninself-reconfigurablerobots.Weuserole-basedcontroltoimplementacaterpillar,asidewinder,andarollingtrackgaitintheCONROself-reconfigurablerobotconsistingofeightmodules.Basedonourexperimentsanddiscussionwecon-cludethatcontrolsystemsbasedonrole-basedcontrolareminimal,robusttocommunicationerrors,androbusttorecon-figuration.©2003ElsevierScienceB.V.Allrightsreserved.Keywords:Self-reconfigurablerobots;Locomotion;Role-basedcontrol1.IntroductionReconfigurablerobotsarerobotsmadefromapos-siblylargenumberofindependentmodulesconnectedtoformarobot.Ifthemodulesfromwhichthere-configurablerobotisbuiltareabletoconnectanddisconnectwithouthumaninterventiontherobotisaself-reconfigurablerobot.RefertoFig.1foranexam-pleofamoduleofaself-reconfigurablerobotorrefertooneoftheotherphysicalrealizedsystemsdescribedinHYPERLINK\l"page8"[7,8,10–15,17,21,23].Severalpotentialadvantagesofself-reconfigurablerobotsovertraditionalrobotshavebeenpointedoutinliterature:Versatility.Themodulescanbecombinedindiffer-entwaysmakingthesameroboticsystemabletoperformawiderangeoftasks.Adaptability.Whiletheself-reconfigurablerobotperformsitstaskitcanchangeitsphysicalshapetoadapttochangesintheenvironment.Robustness.Self-reconfigurablerobotsconsistofmanyidenticalmodulesandthereforeifamodulefailsitcanbereplacedbyanother.Cheapproduction.Whenthefinaldesignforthebasicmodulehasbeenobtaineditcanbemasspro-duced.Therefore,thecostoftheindividualmodulecanbekeptrelativelylowinspiteofitscomplexity.Self-reconfigurablerobotscansolvethesametasksastraditionalrobots,butasYimetal.[23]pointout;inapplicationswheret
