Failure Recovery for Modular Robot Movements without Reassembling Modules

Kód výsledku v 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>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Failure Recovery for Modular Robot Movements without Reassembling Modules

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Failure Recovery for Modular Robot Movements without Reassembling Modules

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

<a href="/cs/project/7AMB14DE007" target="_blank" >7AMB14DE007: Multi-robotické systémy v komplexním prostředí</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 10th International Workshop on Robot Motion and Control

ISBN

978-1-4799-7044-5

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Poznaň

Datum konání akce

6. 7. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—