S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, "Selfrepairing mechanical systems," Auton. Robots, vol. 10, no. 1, pp. 7--21, 2001.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....Laboratory (MEL) in Japan, as well as at Johns Hopkins University and Xerox PARC; the sophistication of the devices has increased ever since. Meanwhile, several groups have contributed groundbreaking ideas, such as the expansion contraction actuation mechanism of [6] the connection mechanism of [3], and the deformation based actuation of [4] A good overview of the state of the field is presented in [5] Most proposed unit reconfigurable robot systems are actuated by rotating a module relative to the rest of the robot or expanding and or contracting a module; their connection mechanisms ....

....planning have two parts: a set of device level primitives for controlling the motion of one module relative to a structure or substrate; and general planning algorithms built by composing these primitives. Two of our centralized planning approaches are described in detail in [2, 6] other groups [3, 4, 7 9] have pursued similar approaches. Some of the most interesting future applications for self reconfiguring robots promise to employ thousands of modules working together. Such systems represent ultra high degree of freedom systems that might be able to synthesize a robotic pet or a couch at one s ....

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Murata, S., Yoshida, E., Kurokawa, H., Tomita, K., and Kokaji, S. Selfrepairing mechanical systems. Autonom. Robo. 10, 1 (Jan. 2001), 7--21.

....modules that connect to form a robot. These modules can have their own power supply, actuators, sensors, communication system, and computational capabilities. See for instance the CONRO module in Figure 1 or refer to the physical realizations described in [10] 8] 12] 23] 19] 14] [9]. Self reconfigurable robots gain their robustness through redundancy. The robot is built from many identical modules and therefore if one fails it can be replaced by a spare module. The modules can be connected in different ways making the same robotic system able to perform a wide range of ....

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji. Selfrepairing mechanical systems. Autonomous Robots, 10(1):7--21, 2001.

....number of independent modules connected to form a robot. If the modules from which the reconfigurable robot is built are able to connect and disconnect without human intervention the robot is a self reconfigurable robot. Examples of physically realized self reconfigurable robots can be found in [8, 6, 9, 15, 13, 11, 7]. Several potential advantages of self reconfigurable robots over traditional robots have been pointed out in literature: Versatility. The modules can be combined in different ways making the same robotic system able to perform a wide range of tasks. Adaptability. While the ....

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji. Self-repairing mechanical systems. Autonomous Robots, 10(1):7--21, 2001.

....of metamorphic or reconfigurable robots. The primary difficulties with these systems are due to the exponential increase in planning complexity for a large set of modules [6] Some of these systems have the capability of self repair, in that they can expel failed modules and continue to function [7][8] The key difference is that the above systems must carry the redundant modules with them even if they don t serve any purpose. These modules can then be used to perform self repair when a module breaks. In our design, the redundancy comes from the other teammates. All modules are in use until ....

S. Murata et al. Self-Repairing Mechanical System. In proceedings of SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems II, 1999.

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S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji. Self-repairing mechanical systems. Autonomous Robots, 10:7--21, 2001.

....robot designs have been proposed [2, 3, 9, 10, 11, 12, 13, 15] For each of these systems, architecture dependent algorithms that couple planning to the specific actuation have been proposed. This includes real breakthroughs in both centralized planning [4, 16] and decentralized planning [6, 7, 12]. This body of work has brought valuable insight into planning and control by focusing on designing and building hardware and developing algorithms coupled to specific hardware. Figure 1: Four snapshots of a simulated locomotion task based on the rules of Fig. 4. We believe we are now at a point ....

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji. Self-repairing mechanical systems. Autonomous Robots, 10:7--21, 2001.

No context found.

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji. Self-repairing mechanical systems. Autonomous Robots, 10:7--21, 2001.

No context found.

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, "Selfrepairing mechanical systems," Auton. Robots, vol. 10, no. 1, pp. 7--21, 2001.

No context found.

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, Self-Repairing Mechanical System, in Proceedings of the Society of Photo-Optical Instrumentation Engineers, Boston, 1999.

No context found.

S. Murata, E. Yoshida, H. Kurokawa, K. Tomita, and S. Kokaji, Self-Repairing Mechanical System, in Proceedings of the Society of PhotoOptical Instrumentation Engineers, Boston, 1999.

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