09-07-2010, 05:56 PM
SELF HEALING ROBOTS
When people or animals get hurt, they can usually compensate for minor
injuries and keep limping along, but for robots, even slight damage can make them
stumble and fall. recovering from damage is an innovation that could make robots
more independent.
It basically looks like a a splay-legged, four-footed starfish and knows the the shape of its own body by performing a series of playful movements. changes in the angle of its body are sensed by sensors and a computerized image of the robot is generated. Ie it uses self- directed exploration to respond and readjust If the robotâ„¢s topology unexpectedly changes.
THE STARFISH ROBOT
CHARACTERIZING THE TARGET SYSTEM:
A quadrupedal, articulated robot with eight
actuated degrees of freedom is the target system described here. The rectangular body has four legs attached to it with hinge joints. a 16-bit 32-
channel PC-104 Diamond MM-32XAT data acquisition board polls the sensors of the robot.
SELF MODELLING BRIEFLY:
The following are the steps taken by the robot for remodelling itself:
Fitst, the robot performs an arbitrary motor action and
records the resulting sensory data. 15 candidate self-models is created by model synthesis component . these models are used to to find a new action most likely to elicit the most information from the robot by a action synthesis
component . most accurate model is created after 16 iterations. Then a compensating behavior is done to recover functionality.
For full report, visit the link:
[attachment=3957]
When people or animals get hurt, they can usually compensate for minor
injuries and keep limping along, but for robots, even slight damage can make them
stumble and fall. recovering from damage is an innovation that could make robots
more independent.
It basically looks like a a splay-legged, four-footed starfish and knows the the shape of its own body by performing a series of playful movements. changes in the angle of its body are sensed by sensors and a computerized image of the robot is generated. Ie it uses self- directed exploration to respond and readjust If the robotâ„¢s topology unexpectedly changes.
THE STARFISH ROBOT
CHARACTERIZING THE TARGET SYSTEM:
A quadrupedal, articulated robot with eight
actuated degrees of freedom is the target system described here. The rectangular body has four legs attached to it with hinge joints. a 16-bit 32-
channel PC-104 Diamond MM-32XAT data acquisition board polls the sensors of the robot.
SELF MODELLING BRIEFLY:
The following are the steps taken by the robot for remodelling itself:
Fitst, the robot performs an arbitrary motor action and
records the resulting sensory data. 15 candidate self-models is created by model synthesis component . these models are used to to find a new action most likely to elicit the most information from the robot by a action synthesis
component . most accurate model is created after 16 iterations. Then a compensating behavior is done to recover functionality.
For full report, visit the link:
[attachment=3957]
