A Basis for Self-Repair Robots Using Self-Reconguring Crystal Modules
A Basis for Self-Repair Robots Using Self-Reconguring Crystal Modules
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发表时间：
2000
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通讯作者：
R. Fitch;D. Rus;M. Vona
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作者：
R. Fitch;D. Rus;M. Vona
自修复机器人是具有检测故障并从故障中恢复的能力的模块化机器人。通常，这种机器人是单元模块化的，并且在其身体上携带许多冗余模块。自我修复包括检测模块的故障，弹出坏模块并用一个额外的模块替换它。在本文中，我们将展示如何自我修复可以通过自我重组水晶机器人完成。我们描述了水晶机器人，它由模块组成，可以聚集在一起，形成分布式机器人系统，并通过扩展和收缩每个单元来驱动。该致动机构允许自动形状变形。我们还描述了一种算法，使用这种驱动机制的自我修复。
Self-repair robots are modular robots that have the capability of detecting and recovering from failures. Typically, such robots are unit-modular and carry a number of redundant modules on their bodies. Self-repair consists of detecting the failure of a module, ejecting the bad module and replacing it with one of the extra modules. In this paper we show how self-repair can be accomplished by self-reconfiguring Crystalline robots. We describe the Crystalline robots, which consist of modules that can aggregate together to form distributed robot systems and are actuated by expanding and contracting each unit. This actuation mechanism permits automated shape metamorphosis. We also describe an algorithm that uses this actuation mechanism for self-repair.