Self-Organizing Robots

  • Satoshi Murata
  • Haruhisa Kurokawa

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 77)

Table of contents

  1. Front Matter
    Pages 1-15
  2. Satoshi Murata, Haruhisa Kurokawa
    Pages 1-18
  3. Satoshi Murata, Haruhisa Kurokawa
    Pages 19-35
  4. Satoshi Murata, Haruhisa Kurokawa
    Pages 37-57
  5. Satoshi Murata, Haruhisa Kurokawa
    Pages 59-75
  6. Satoshi Murata, Haruhisa Kurokawa
    Pages 77-103
  7. Satoshi Murata, Haruhisa Kurokawa
    Pages 105-130
  8. Satoshi Murata, Haruhisa Kurokawa
    Pages 131-171
  9. Satoshi Murata, Haruhisa Kurokawa
    Pages 173-209
  10. Satoshi Murata, Haruhisa Kurokawa
    Pages 211-233
  11. Satoshi Murata, Haruhisa Kurokawa
    Pages 235-246
  12. Back Matter
    Pages 1-8

About this book


It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the robotics discipline, including in the areas of mechanics, control, electronics, and computer science. It is also an important source for researchers who wish to investigate the field of robotics or who have an interest in the application of self-organizing phenomena.


Biological system M-TRAN Modular robots Self-organization Self-organizing mechanical system autonomous distributed system biological self repair self-assembling robots

Authors and affiliations

  • Satoshi Murata
    • 1
  • Haruhisa Kurokawa
    • 2
  1. 1.Graduate School of Engineering, Department of Bioengineering and RoboticTohoku UniversitySendaiJapan
  2. 2.and Technology (AIST), Intelligent Systems InstituteNational Institute of Advanced ScienceTsukuba, IbarakiJapan

Bibliographic information

  • DOI
  • Copyright Information Haruhisa Kurokawa, Satoshi Murata 2012
  • Publisher Name Springer, Tokyo
  • eBook Packages Engineering
  • Print ISBN 978-4-431-54054-0
  • Online ISBN 978-4-431-54055-7
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book