Mathematical Foundation for Hormone-inspired Control for Self-reconfigurable Robotic Systems

– In this paper, we present a general mathematical foundation of hormone-inspired control for the selfreconfigurable robotic system. Problem considered here is the lack of a mathematical description to analyze and explain the dynamic behavior of self-reconfigurable robots. In the global he idea of virtual disconnection is developed to abstract the low level module control away from the high level synchronization for both cyclic and acyclic robot configuration. In the module layer, the linear space model is developed to describe each module's internal state, input-output hormone transformation, and its action selection. As a combination of hormone and modern control theory, the approach in this paper gives more features, such as predictability and stability analysis etc, to hormone-inspired control, and makes it applicable to selfreconfigurable systems in general. Simulation and experimental results show the capacity of our method.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Feili Hou, Wei-Min Shen
• Keywords: Hormone-inspired Control, ICRA 2006, Input-output Hormone Transformation, Level Module Control, Robotics