Failure Recovery for Modular Robot Movements without Reassembling Modules
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00231079" target="_blank" >RIV/68407700:21230/15:00231079 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Failure Recovery for Modular Robot Movements without Reassembling Modules
Original language description
Modular robots consist of many mechatronic modules that can be connected into various shapes and therefore adapted for a given task or environment. Motion of the robots can be achieved by locomotion generators that control joints connecting the modules.An important advantage of modular robots is their ability to recover from failures by ejecting and replacing damaged modules. This type of failure recovery may be precluded due to inability of the broken modules to cooperate or when no spare modules areavailable. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to recover from failuresusing the concept of motion planning with motion primitives and how to adapt the primitives to new situations. The proposed systems allows modular robots to move even if some modules fail. Besides modular robots, the proposed system is s
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/7AMB14DE007" target="_blank" >7AMB14DE007: Multi-robot systems in complex environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 10th International Workshop on Robot Motion and Control
ISBN
978-1-4799-7044-5
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
Piscataway
Event location
Poznaň
Event date
Jul 6, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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