On the use of sensors in self-reconfigurable robots

摘要: In this paper we investigate the use of sensors in self-reconfigurable robots. We review several physically realized robots and conclude that little attention has been paid to sensors. This is unfortunate since can provide essential feedback be used guide self-reconfiguration control. systems do sensor feedback, locally on each module. However identify a need some situations globally. therefore propose an approach where raw values are abstracted propagated all modules. The differently depending position producing robot. combine with role based control, control method for have developed earlier. demonstrate by combing these two approaches it possible make robot consisting six modules walk avoid obstacles. reaction time slow discus ways reducing time.