Experimental study on a self-repairing modular machine

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

doi:10.1016/S0921-8890(99)00040-8

Experimental study on a self-repairing modular machine

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

Research output: Contribution to journal › Conference article › peer-review

32 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 language	English
Pages (from-to)	79-89
Number of pages	11
Journal	Robotics and Autonomous Systems
Volume	29
Issue number	1
DOIs	https://doi.org/10.1016/S0921-8890(99)00040-8
Publication status	Published - 1999 Oct 31
Externally published	Yes
Event	Proceedings of the 1998 4th International Symposium on Distributed Autonomous Robotic Systems (DARS'98) - Karlsruhe, Ger Duration: 1998 May 25 → 1998 May 27

ASJC Scopus subject areas

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

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10.1016/S0921-8890(99)00040-8

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AU - Yoshida, Eiichi

AU - Murata, Satoshi

AU - Tomita, Kohji

AU - Kurokawa, Haruhisa

AU - Kokaji, Shigeru

PY - 1999/10/31

Y1 - 1999/10/31

N2 - 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.

AB - 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.

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Experimental study on a self-repairing modular machine

Abstract

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