self healing robots93v

8/8/2019 Self Healing Robots93v

http://slidepdf.com/reader/full/self-healing-robots93v 1/17

Aarathi Vikas

S7 CSERoll No. 1



INTRODUCTION

Self healing robots have ability to adapt to minor injuries

A robot is able to infer its own morphology through self

directed exploration

The concept used is multiple competing internal models andgeneration of actions



THE STARFISH ROBOT-CHARACTERIZING

THE TARGET SYSTEM

y The target system is a quadrapedal,

articulated roboty It consist of a rectangular body and

four legs attached to it with a hinge

joint

y Each leg has a upper and lower leg

attached together with a hinge joint



All eight hinge joints are actuated with high torque

servomotors

Servo drives capable of producing max 200 ounceinchesof torque and 60o per second speed

Robot can automatically synthesize predictive models of

its own topology

Equipped with suite of different sensors



SELF MODELLING BRIEFLY Robots depend on internal maps and sensory data to

update their location

In a changing environment the robot has to navigate with

uncertainity

Situation becomes even worse if the robot¶s own shape

and configuration can change



PHASES IN SELF HEALING

y Self ±Model synthesis

y Exploratory Action synthesis

y Target Behaviour synthesis



ALGORITHMy Estimation-exploration algorithm is used

y

It has 2 functions: damage hypothesis evolution andcontroller evolution

y It maintains a database which stores pairs of data



EXPERIMENTAL SETUPy The quadrapedal robot has eight degrees of freedom

y Two one degree-of-freedom rotational joints per

leg:one at the shoulder and one at knee

y It has 4 binary touch sensors and also 4 angle sensors

y All joints are actuated by a torsional motor



The simulated

robot used for

experimentation



THE CONTROLLERSy Robots are controlled by a

neural network

y There are 3 layers in the

neural network-input

layer,hidden layer,outputlayer



DAMAGE RECOVERIES



Advantages and Disadvantages



Conclusion

self healing robots93v

Documents