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A Bio-inspired Self-reparation Approach for Lattice Self-reconfigurable Modular Robots

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11740))

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Abstract

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.

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Acknowledgement

The work reported in this paper is supported by the Joint Research Fund (U1713201) between the National Natural Science Foundation of China (NSFC) and Shen Zhen. The work is also supported by the State Key Laboratory of Robotics (2018-O10).

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Authors and Affiliations

  1. The Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China

    Dongyang Bie

  2. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin, China

    Yu Zhang & Yanhe Zhu

  3. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China

    Dongyang Bie & Xingang Zhao

Authors
  1. Dongyang Bie
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  2. Yu Zhang
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  3. Xingang Zhao
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  4. Yanhe Zhu
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Corresponding author

Correspondence to Yanhe Zhu .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Bie, D., Zhang, Y., Zhao, X., Zhu, Y. (2019). A Bio-inspired Self-reparation Approach for Lattice Self-reconfigurable Modular Robots. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_58

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  • DOI: https://doi.org/10.1007/978-3-030-27526-6_58

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27525-9

  • Online ISBN: 978-3-030-27526-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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