Abstract
A self-assembling and self-repairing mechanical system is experimentally studied to demonstrate its effectiveness. We developed a 2-D model of autonomous mechanical units 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. In experiments, more than ten units successfully configure themselves and recovered from a fault. Besides the research of the 2-D model, a model of 3-D system is also designed.
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© 1998 Springer-Verlag Berlin Heidelberg
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Yoshida, E., Murata, S., Tomita, K., Kurokawa, H., Kokaji, S. (1998). Experiment of Self-repairing Modular Machine. In: Distributed Autonomous Robotic Systems 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-72198-4_12
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DOI: https://doi.org/10.1007/978-3-642-72198-4_12
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-72200-4
Online ISBN: 978-3-642-72198-4
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