Experiment of Self-repairing Modular Machine

• Autores: Eiichi Yoshida, Satoshi Murata, Kohji Tomita, Haruhisa Kurokawa, Shigeru Kokaji
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 119-128
• Idioma: inglés
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• Resumen

  • A self-assembling and self-repairing mechanical system is experimentally studied to demonstrate its effectiveness. We developed a 2-D model of autonomous mechanical units capable of dynamic reconfiguration and inter-unit communication. Self-assembly and self-repair experiments have been carried out using a distributed algorithm developed under the constraints of the system’s homogeneity and locality of information. In experiments, more than ten units successfully configure themselves and recovered from a fault. Besides the research of the 2-D model, a model of 3-D system is also designed.