Study of group robots adaptively forming a mechanical structure (effect ofmechanical properties of cellular robots on structure formation)

In this paper, group robots which can adaptively form a mechanical structur e are described. The group robots consist of identical cellular robots. Eac h cellular robot has the identical mechanical structure and autonomous beha vior. In the situation considered in this study, a mobile object must cross over from one cliff to another in the absence of a bridge. The mission of the group robots is to form a mechanical bridge-like structure which is gov erned by the movement of the object. This paper focuses on the mechanical s pecifications required for the cellular robots for execution of the mission . We pointed out that three mechanical parameters for the sensing stress of the cellular robot are essential for formation of the structure. The struc ture formation process was examined by computer simulations for discussing the effects of the mechanical parameters.