History

We are one of the first research groups pioneering self-reconfigurable robotics (Modular robotics) in the world.


Before M-TRAN (Movies & Publication )

M-TRAN

M-TRAN 0

M-TRAN I-b

I (left) II (center) III (right)


Specification of Three Generation M-TRANs

I

II

III

Size

66 mm

60 mm

65 mm

Weight

440 g

400 g

420 g

Master CPU

Basic stamp II -> PIC

Neuron Chip

SH II (Renesus)

Bus

UART

LON Bus

CAN Bus

Slave CPU

 2  x  PIC

3  x  H8

Communication and Control

Centralized (Host)

Global synchronization / Distributed oscillator control

Synchronization / Asynchronous

Wireless communication

--

RF command to one module

Two-way communication via Bluetooth

Connection mechanism

Permanent magnets and SMA actuator

Mechanical

Sensors

10 Proximity (IR)Inclinometer

Battery

Lithium ion

Lithium polymer

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