Self-organization of environmentally-adaptive shapes on a modular robot
Self-organization of environmentally-adaptive shapes on a modular robot
复制标题
模块化机器人上环境自适应形状的自组织
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
R. Nagpal
中科院分区：
文献类型：
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作者：
Chih;F. Willems;D. Ingber;R. Nagpal
模块化机器人有可能通过重新配置其形状以执行不同的功能来实现广泛的应用。这需要强大而可扩展的控制算法，这些算法可以形成各种用户指定的形状，包括适应环境的形状。在这里，我们提出了一种分散的算法，用于自我自适应形状进行自组织。我们将其应用于链式模块化机器人，该机器人配置为形成柔性板结构。我们表明，所提出的算法能够实现各种环境自适应的形状，并且模块控制是简单，可扩展，健壮且可证明的。该算法也是自我维护的：如果环境发生变化，形状会自动调整。最后，我们提出了几种应用程序，可以通过机器人原型和仿真（例如自平衡表）在此框架内实现。在我们的实验中，我们证明了面对现实世界的驱动和感知噪声，该算法具有很高的响应性和稳健性。
Modular robots have the potential to achieve a wide range of applications by reconfiguring their shapes to perform different functions. This requires robust and scalable control algorithms that can form a wide range of user-specified shapes, including shapes that adapt to the environment. Here we present a decentralized algorithm for self-organizing of environmentally-adaptive shapes. We apply it to a chain-style modular robot, configured to form a flexible sheet structure. We show that the proposed algorithm is capable of achieving a wide class of environmentally-adaptive shapes, and the module control is simple, scalable, robust and provably correct. The algorithm is also self-maintaining: the shape automatically adapts if the environment changes. Finally, we present several applications which can be achieved within this framework via robot prototypes and simulations, such as a self-balancing table. In our experiments, we demonstrate the algorithm is highly responsive and robust in the face of real-world actuation and sensing noise.