Simulations and Experiments

The second prototype M-TRAN II has enough power for whole body motions, such as locomotion. As the modular robot changes its configuration, designing a locomotion pattern should be automated. We have developed a program for this pattern generation, which uses CPG (Central Pattern Generator) network as a dynamic pattern generator and uses GA (Genetic Algorithm) for optimization. We modeled M-TRAN dynamics in the host computer and made repetitive dynamics simulation according to the GA process, and optimized locomotion patterns for several configurations of M-TRAN. Generated patterns are verified by hardware experiments.
In the two experiments (10) and (11) of the following, locomotions and self-reconfiguration are combined.

Simulation Experiment
(1) 4-Legged
Walking

Before
evolution by GA
(mpeg 8.0MB , real media 2.2MB)

(2) 4-Legged
Walking

After evolution
by GA
(mpeg 6.4MB , real media 1.7MB)
(mpeg 2.7MB , real media 1.1MB)
(3)
Turning round
(mpeg 4.6MB , real media 1.2MB)
(mpeg 3.8MB , real media 1.0MB)
(4)
Mini- 4-legged
walker
(mpeg 4.1MB , real media 1.5MB)
(mpeg 2.8MB , real media 1.0MB)

(mpeg 3.1MB , real media 1.2MB)
(5) Double-thread
Caterpillar
motion
(H-shape)
(mpeg 6.7MB , real media 2.5MB)
(mpeg 2.6MB , real media 1.0MB)
(6) Six-legged
walker
(mpeg 1.9MB , real media 0.7MB)
(mpeg 2.4MB , real media 0.9MB)
(7) Single-thread
Caterpillar
motion
(mpeg 5.9MB , real media 2.2MB)
(mpeg 3.2MB , real media 1.3MB)
(8) Wheel
(Crawler?)
(mpeg 1.1MB , real media 0.4MB)
(mpeg 1.2MB , real media 0.3MB)
unsuccessful?
(9)Spider?
(mepg 5MB)
(mpeg 2.7MB)
(10)
Reconfiguration
from H-shape
to
Single-thread
(mpeg 16.9MB , real media 4.4MB)
(11)
4-Leg walk ->
H-shape ->
Single-thread
Caterpillar
(mpeg 24.9MB , real media 6.6MB)
edited
(12)
H-Shape ->
Crawler ->
4-Leg walk ->
H-Shape ->
Single-thread
Caterpillar
(mpeg 53.2MB , real media 14.1MB)
edited
(13)
Axisymmetric
4-Leg
->
Straight line
(real mdia 6.8MB)
edited
(14)Sidewinder
(sidewindersim.mpg)
(mpeg 3.1MB)
(15)
Walking around
(real mdia 7.8MB , mpeg 5.2MB, mpeg 27MB)
non-edited
(16) Climb
（real media 4.6MB)
edited
(17) 4leg ->Caterpillar
(2003/11/13)
(real media 2MB)
edited
(18)Union
(2004/Jan)
(real media 1MB) real time
Remote controlled by two operators.