A bio-inspired self-reparation approach for lattice self-reconfigurable modular robots
文献类型：会议论文
| 作者 | Bie, Dongyang1,2; Zhang, Yu3; Zhao XG(赵新刚)1 ; Zhu YH(朱延河)3
|
| 出版日期 | 2019 |
| 会议日期 | August 8-11, 2019 |
| 会议地点 | Shenyang, China |
| 关键词 | elf-reparation Modular robots Decentralized control L-systems |
| 页码 | 667-671 |
| 英文摘要 | The 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. |
| 产权排序 | 1 |
| 会议录 | Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27525-9 |
| WOS记录号 | WOS:000569253500058 |
| 源URL | [http://ir.sia.cn/handle/173321/25504]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zhu YH(朱延河) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.The Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China 3.State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, China |
| 推荐引用方式 GB/T 7714 | Bie, Dongyang,Zhang, Yu,Zhao XG,et al. A bio-inspired self-reparation approach for lattice self-reconfigurable modular robots[C]. 见:. Shenyang, China. August 8-11, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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