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Self-Repairing Algorithm of Lattice-Type Self-Reconfigurable Modular Robots

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Abstract

Self-reconfigurable modular robots consist of many identical modules. By changing the connections among modules, the configuration of the robot can be transformed into other configurations. For the self-reconfigurable modular robot, one of its main functions is its self-repairing ability. First, the module of the lattice-type self-reconfigurable robot is presented. It is composed of a central cube and six rotary arms. On each rotary arm the docking mechanism is designed to show the self-repairing ability. Second, the basic motion of the self-reconfigurable robot is described to change the positions of the module. The state matrix and the location matrix are proposed to describe the connection states. Third, a self-repairing algorithm based on the positions of the faulty modules is presented. The algorithm applies the Breadth-First-Search method and the Depth-First-Search method to find a locomotion path by which the faulty module is ejected and replaced by a spare module. At last, a simulation on the fourth-order lattice-type self-reconfigurable robot consisting of 729 modules shows the feasibility and effectiveness of this self-repairing algorithm in three dimensions.

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Authors and Affiliations

  1. Research Institute of Robotics, Shanghai Jiaotong University, Dongchuan Road 800, Shanghai, 200240, People’s Republic of China

    Yanqiong Fei

  2. School of Engineering, Swansea University, Singleton Park, Swansea, SA2 8PP, Wales, UK

    Chengyuan Wang

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  1. Yanqiong Fei
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  2. Chengyuan Wang
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Correspondence to Yanqiong Fei.

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Fei, Y., Wang, C. Self-Repairing Algorithm of Lattice-Type Self-Reconfigurable Modular Robots. J Intell Robot Syst 75, 193–203 (2014). https://doi.org/10.1007/s10846-013-9885-8

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  • DOI: https://doi.org/10.1007/s10846-013-9885-8

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