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A bio-inspired self-reparation approach for lattice self-reconfigurable modular robots
Bie, Dongyang1,3; Zhang, Yu2; Zhao XG(赵新刚)3; Zhu YH(朱延河)2
Department机器人学研究室
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2019
Pages667-671
Indexed ByEI
EI Accession number20193307318012
Contribution Rank1
ISSN0302-9743
ISBN978-3-030-27525-9
Keywordelf-reparation Modular robots Decentralized control L-systems
AbstractThe self-reparation of modular self-reconfigurable robots is a fundamental primitive that can be used as part of higher-lever functionality. A bio-inspired approach is proposed for distributed self-reparation, which can lead the robot recover from module fails to the initial configuration. This approach is inspired by the natural growth of plant. The L-systems for describing natural growth is translated to construct robotic structures. Robots reconstruct lost parts by leading other modules to needed positions through the symbol rewriting strategy in L-systems. Simulations and experiments on Seremo robots are provided to verify this method with successful reparation of module fails or removed from the global structure.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25504
Collection机器人学研究室
Corresponding AuthorZhu YH(朱延河)
Affiliation1.The Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
2.State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Bie, Dongyang,Zhang, Yu,Zhao XG,et al. A bio-inspired self-reparation approach for lattice self-reconfigurable modular robots[C]. Berlin:Springer Verlag,2019:667-671.
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