Evolution of Shape-Changing and Self-Repairing Control for the ATRON Self-Reconfigurable Robot

David Johan Christensen

doi:10.1109/ROBOT.2006.1642084

Evolution of Shape-Changing and Self-Repairing Control for the ATRON Self-Reconfigurable Robot

David Johan Christensen

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Abstract

The ATRON self-reconfigurable robot consists of simple interconnected modules. Modules move relative to other modules and as a result change the shape of the robot. The ATRON modules are difficult to control because of complex motion constraints on the modules. Motion constraints are reduced by using meta-modules composed of three modules. A meta-module may emerge from unstructured groups of modules if three modules are connected in the right configuration. The meta-module then moves on a surface of modules and stop at another position. To attract moving meta-modules and thereby to specify the shape-changing task of the robot we use attraction-points. In this work we evolve a distributed artificial neural network controller for the modules. The controller is identical on every module and controls when a meta-module emerges, how it move and when it stops. In simulation we demonstrate how this control strategy allows the ATRON robot to shape-change to support an unstable roof, build a bridge across a gap and to self-repair a broken bone. We conclude that the control strategy is able to shape-change and self-repair the ATRON robot independent on whether it consists of dozens, hundreds or thousands of modules
Keyword: Distributed control,Interconnected systems,Self-repairing control,Complex motion constraints,Robots,Self-adjusting systems,Meta-modules,Distributed artificial neural network control,Interconnected modules,Neurocontrollers,ATRON self-reconfigurable robot,Motion control,Shape-changing control

Original language	English
Title of host publication	Proceedings of the 2006 IEEE International Conference on Robotics and Automation
Publisher	IEEE
Publication date	2006
ISBN (Print)	0780395050
DOIs	https://doi.org/10.1109/ROBOT.2006.1642084
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006 http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2006.html

Conference

Conference	2006 IEEE International Conference on Robotics and Automation
Country	United States
City	Orlando, FL
Period	15/05/2006 → 19/05/2006
Internet address	http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2006.html

Bibliographical note

Copyright 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Access to Document

10.1109/ROBOT.2006.1642084

822116C5d01Final published version, 936 KB

http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1642084

Cite this

@inproceedings{875ab8273b864bc3a48aead3c1d775da,

title = "Evolution of Shape-Changing and Self-Repairing Control for the ATRON Self-Reconfigurable Robot",

abstract = "The ATRON self-reconfigurable robot consists of simple interconnected modules. Modules move relative to other modules and as a result change the shape of the robot. The ATRON modules are difficult to control because of complex motion constraints on the modules. Motion constraints are reduced by using meta-modules composed of three modules. A meta-module may emerge from unstructured groups of modules if three modules are connected in the right configuration. The meta-module then moves on a surface of modules and stop at another position. To attract moving meta-modules and thereby to specify the shape-changing task of the robot we use attraction-points. In this work we evolve a distributed artificial neural network controller for the modules. The controller is identical on every module and controls when a meta-module emerges, how it move and when it stops. In simulation we demonstrate how this control strategy allows the ATRON robot to shape-change to support an unstable roof, build a bridge across a gap and to self-repair a broken bone. We conclude that the control strategy is able to shape-change and self-repair the ATRON robot independent on whether it consists of dozens, hundreds or thousands of modules Keyword: Distributed control,Interconnected systems,Self-repairing control,Complex motion constraints,Robots,Self-adjusting systems,Meta-modules,Distributed artificial neural network control,Interconnected modules,Neurocontrollers,ATRON self-reconfigurable robot,Motion control,Shape-changing control",

author = "Christensen, {David Johan}",

note = "Copyright 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.; 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

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AU - Christensen, David Johan

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N2 - The ATRON self-reconfigurable robot consists of simple interconnected modules. Modules move relative to other modules and as a result change the shape of the robot. The ATRON modules are difficult to control because of complex motion constraints on the modules. Motion constraints are reduced by using meta-modules composed of three modules. A meta-module may emerge from unstructured groups of modules if three modules are connected in the right configuration. The meta-module then moves on a surface of modules and stop at another position. To attract moving meta-modules and thereby to specify the shape-changing task of the robot we use attraction-points. In this work we evolve a distributed artificial neural network controller for the modules. The controller is identical on every module and controls when a meta-module emerges, how it move and when it stops. In simulation we demonstrate how this control strategy allows the ATRON robot to shape-change to support an unstable roof, build a bridge across a gap and to self-repair a broken bone. We conclude that the control strategy is able to shape-change and self-repair the ATRON robot independent on whether it consists of dozens, hundreds or thousands of modules Keyword: Distributed control,Interconnected systems,Self-repairing control,Complex motion constraints,Robots,Self-adjusting systems,Meta-modules,Distributed artificial neural network control,Interconnected modules,Neurocontrollers,ATRON self-reconfigurable robot,Motion control,Shape-changing control

AB - The ATRON self-reconfigurable robot consists of simple interconnected modules. Modules move relative to other modules and as a result change the shape of the robot. The ATRON modules are difficult to control because of complex motion constraints on the modules. Motion constraints are reduced by using meta-modules composed of three modules. A meta-module may emerge from unstructured groups of modules if three modules are connected in the right configuration. The meta-module then moves on a surface of modules and stop at another position. To attract moving meta-modules and thereby to specify the shape-changing task of the robot we use attraction-points. In this work we evolve a distributed artificial neural network controller for the modules. The controller is identical on every module and controls when a meta-module emerges, how it move and when it stops. In simulation we demonstrate how this control strategy allows the ATRON robot to shape-change to support an unstable roof, build a bridge across a gap and to self-repair a broken bone. We conclude that the control strategy is able to shape-change and self-repair the ATRON robot independent on whether it consists of dozens, hundreds or thousands of modules Keyword: Distributed control,Interconnected systems,Self-repairing control,Complex motion constraints,Robots,Self-adjusting systems,Meta-modules,Distributed artificial neural network control,Interconnected modules,Neurocontrollers,ATRON self-reconfigurable robot,Motion control,Shape-changing control

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