Abstract
This chapter proposes the concept and explains the characteristics of a new group robot “Gunryu,” each segment of which has autonomy, but at the same time, moves and operates cooperatively with the other segments. The authors have been conducting research on a snake-like robot and have proposed the articulate-body mobile robot “Koryu.” The articulate-body mobile robot “Koryu” has active joints for up/down motion and swing motion. GR is a group robot concept characterized by being composed of autonomous mobile bodies equipped with manipulators, which acts not only as an operational device just like usual manipulator, but also as a connecting device to grab hold of other robot segments. The mechanisms of a primary model, GR-I, which is comprised of two prototype segments, are introduced and the results for operational experiments are shown. The study of GR has just started. There are many interesting research subjects to be pursued in the research project of GR; its mechanism, sensor, signal communication, and cooperative control can be further developed. These aspects are to be improved in the near future.
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