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
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 |
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Title of host publication | Proceedings of the 2006 IEEE International Conference on Robotics and Automation |
Publisher | IEEE |
Publication date | 2006 |
ISBN (Print) | 0780395050 |
DOIs | |
Publication status | Published - 2006 |
Externally published | Yes |
Event | 2006 IEEE International Conference on Robotics and Automation - Orlando, United States Duration: 15 May 2006 → 19 May 2006 https://ieeexplore.ieee.org/xpl/conhome/10932/proceeding |
Conference
Conference | 2006 IEEE International Conference on Robotics and Automation |
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Country/Territory | United States |
City | Orlando |
Period | 15/05/2006 → 19/05/2006 |
Internet address |