Experimental study on a self-repairing modular machine

Eiichi Yoshida, Satoshi Murata, Kohji Tomita, Haruhisa Kurokawa, Shigeru Kokaji

Research output: Contribution to journalConference articlepeer-review

31 Citations (Scopus)

Abstract

A self-assembling and self-repairing mechanical system is experimentally studied to demonstrate its effectiveness. We developed a 2-D model of an autonomous mechanical unit 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 exchange. In experiments, more than ten units successfully configured themselves and recovered from a fault. Besides the research of the 2-D model, a model of a 3-D system and its self-assembly algorithm are also developed.

Original languageEnglish
Pages (from-to)79-89
Number of pages11
JournalRobotics and Autonomous Systems
Volume29
Issue number1
DOIs
Publication statusPublished - 1999 Oct 31
Externally publishedYes
EventProceedings of the 1998 4th International Symposium on Distributed Autonomous Robotic Systems (DARS'98) - Karlsruhe, Ger
Duration: 1998 May 251998 May 27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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