(1992〜）The "Gunryu(GR)", meaning "a group of dragons" in Japanese is a group robot, each segment of which has autonomy but at the same time it can connect with the other segments to operate cooperatively. The idea of a group robot with connecting ability is an old one. However, there has been a problem until now. Unfortunately, connecting mechanism tends to be very heavy that its weight largely limits the function of the total system.

GR resolves this problem by introducing as arm, which is an indispensable gear for a robot. It serves as an active connecting mechanism as well as a manipulator for handling tasks as shown in Fig.1. GR has the following characteristics:

i) It can go over a large obstacle, where as a single segment can not, by the cooperative function of each segments. It will not fall off into the crevice as shown in Fig.2.

ii) The up and down motion of the connected GR has high energy efficiency due to the transmission of potential energy along mechanically linked robots as shown in Fig.3.

iii) Because of its hyper-redundant system, the mechanical system is highly reliable since improperly functioning robots may be removed.

GR can perform cooperative tasks even in separated state as shown in Fig.1. GR is thus suitable for robot work in extreme environment, such as in the planetary exploration or in disaster restoration

References:

1. Shigeo Hirose, Takaya Shirasu and Fumihiko E. Fukushima; A Proposal for Cooperative Robot "Gunryu" Composed of Autonomous Segments, Proc. IROS'94,, pp.1532-1538(1994)
2. Shigeo Hirose, Naritoshi Ootsukasa, Takaya Shirasu, Hiroyuki Kuwahara, and Kan Yoneda : Fundamental Considerations for the Design of a Planetaty Rover, Proc. ICRA, Nagoya, pp.1934-1944 (1995)
3. Shigeo Hirose, Takaya Shirasu and Edwardo F. Fukushima; Proposal For Cooperative Robot ``Gunryu'' Composed of Autonomous Segments, Robotics and Autonomous Systems, vol. 17, pp. 107-118, (1996)