Abstract
Robotic systems can be made flexible in their size, degrees of freedom, outputs for a desired task by composing them of identical units. There are three basic characteristics which are desirable in such systems; (1) expandability, (2) perceptibility of unit's location, and (3) fault tolerance. These characteristics of the system can be varied by the networking and knowledge distribution scheme employed. This paper proposes a method of classifying and comparing networking schemes for such robotic systems based on the above-mentioned three basic characteristics, and the optimal networking scheme is then made clear for a particular application. An experimental transfer robot composed of identical units, each of which has nineteen arms, was built and the experimental results are shown to support the proposed method.
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