Title:
CONTROL DEVICE, METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/159927
Kind Code:
A1
Abstract:
The present invention provides a control technology for realizing line control applicable even when there is a non-contact portion in a common part between a set of initial locations of to-be-controlled object units and a set of target locations of the to-be-controlled object units. This control device is provided with: a to-be-controlled object unit selection part 2 that selects, as a head to-be-controlled object unit, a to-be-controlled object unit which is present at a location belonging to a set Up and which is adjacent to a location in a target location where a to-be-controlled object unit is not present (hereinafter referred to as a destination location D), and that selects, as a tail to-be-controlled object unit, a to-be-controlled object unit which is at a location not belonging to the set Up and which is located in the initial location; a to-be-controlled object unit movement part 3 that, with the destination location D determined as a destination location, moves a series of to-be-controlled object units from the head to-be-controlled object unit to the tail to-be-controlled object unit so as to follow operation of the head to-be-controlled object unit; and a set addition part 4 that, after adding the destination location D to the set Up, adds the location of the to-be-controlled object unit satisfying a predetermined condition, to the set Up.
Inventors:
KAWANO HIROSHI (JP)
Application Number:
PCT/JP2019/004984
Publication Date:
August 22, 2019
Filing Date:
February 13, 2019
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
G05D1/02
Foreign References:
| JP2016009354A | 2016-01-18 | |||
| JP2016119040A | 2016-06-30 | |||
| JP2017129954A | 2017-07-27 |
Other References:
VASSILVITSKII, SERGUEI ET AL.: "A Complete, Local and Parallel Reconfiguration Algorithm for Cube Style Modular Robots", PROC. 2002 IEEE INT. CONF. ROBOTICS AND AUTOMATION, May 2002 (2002-05-01), pages 117 - 122, XP032882355, ISBN: 0-7803-7272-7
KAWANO, HIROSHI: "Complete Reconfiguration Algorithm for Sliding Cube-shaped Modular Robots with only Sliding Motion Primitive", 2015 IEEE /RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, September 2015 (2015-09-01), pages 3276 - 3283, XP032832053
KAWANO, HIROSHI: "Tunneling-based Self- reconfiguration of Heterogeneous Sliding Cube- shaped Modular Robots in Environments with Obstacles", 2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, May 2017 (2017-05-01), pages 825 - 832, XP033126842
KAWANO, HIROSHI: "Complete Reconfiguration Algorithm for Sliding Cube-shaped Modular Robots with only Sliding Motion Primitive", 2015 IEEE /RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, September 2015 (2015-09-01), pages 3276 - 3283, XP032832053
KAWANO, HIROSHI: "Tunneling-based Self- reconfiguration of Heterogeneous Sliding Cube- shaped Modular Robots in Environments with Obstacles", 2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, May 2017 (2017-05-01), pages 825 - 832, XP033126842
Attorney, Agent or Firm:
NAKAO, Naoki et al. (JP)
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