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Self-reconfigurable robots

Self-reconfigurable robots. SR Robots: systems that can reconfigure themselves with large numbers of modules. Potential of these systems is Adaptability/versatility Robustness/Sustainability Self-diagnosis Self-repair Reduced cost. What we need to solve. HARDWARE

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Self-reconfigurable robots

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  1. Self-reconfigurable robots • SR Robots: systems that can reconfigure themselves with large numbers of modules. • Potential of these systems is • Adaptability/versatility • Robustness/Sustainability • Self-diagnosis • Self-repair • Reduced cost.

  2. What we need to solve HARDWARE • Connector design, latching mechanisms • Specific power, specific torque, specific energy • Hardening designs for real applications. SOFTWARE • Scalable, distributable, algorithms • Robust fault tolerant software CO-DESIGN • New paradigms for codevelopment of modular SW and HW. (SW and HW design more tightly coupled than any existing system) • Better ways to exploit hardware/software interaction

  3. Example Grand Challenge Problems • Robot that can survive or recover being blown up. • System that self-repairs. • Robot that can morph through a collapsed building and reconfigure to stabilize the structure. • Robot that can self-assemble micro modules in vitro. • Robot that can replicate geometry and motion of any object through morphing.

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