Experimental study on a self-repairing modular machine

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

研究成果: Conference article査読

32 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)79-89
ページ数11
ジャーナルRobotics and Autonomous Systems
29
1
DOI
出版ステータスPublished - 1999 10月 31
外部発表はい
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 251998 5月 27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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