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.
|ジャーナル||Robotics and Autonomous Systems|
|出版ステータス||Published - 1999 10月 31|
|イベント||Proceedings of the 1998 4th International Symposium on Distributed Autonomous Robotic Systems (DARS'98) - Karlsruhe, Ger|
継続期間: 1998 5月 25 → 1998 5月 27
ASJC Scopus subject areas
- 数学 (全般)
- コンピュータ サイエンスの応用