Self-Adapting Modular Robotics: A Generalized Distributed Consensus Framework
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Self-Adapting Modular Robotics: A Generalized Distributed Consensus Framework
| Title: | Self-Adapting Modular Robotics: A Generalized Distributed Consensus Framework |
| Author: |
Yu, Chih-Han; Nagpal, Radhika
Note: Order does not necessarily reflect citation order of authors. |
| Citation: | Yu, Chih-Han and Radhika Nagpal. 2009. Self-adapting modular robotics: A generalized distributed consensus framework. In Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, May 12-17, 2009, Kobe, Japan, 1881-1888. Piscataway, N.J.: Institute of Electrical and Electronics Engineers. |
| Full Text & Related Files: |
Yu_SelfAdaptingModular.pdf (1.497Mb; PDF) 
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| Abstract: | Biological systems achieve amazing adaptive behavior with local agents performing simple sensing and actions. Modular robots with similar properties can potentially achieve self-adaptation tasks robustly. Inspired by this principle, we present a generalized distributed consensus framework for selfadaptation tasks in modular robotics. We demonstrate that a variety of modular robotic systems and tasks can be formulated within such a framework, including (1) an adaptive column that can adapt to external force, (2) a modular gripper that can manipulate fragile objects, and (3) a modular tetrahedral robot that can locomote towards a light source. We also show that control algorithms derived from this framework are provably correct. In real robot experiments, we demonstrate that such a control scheme is robust towards real world sensing and actuation noise. This framework can potentially be applied to a wide range of distributed robotics applications. |
| Published Version: | doi:10.1109/ROBOT.2009.5152663 |
| Other Sources: |
http://www.eecs.harvard.edu/ssr/papers/icra09-yu.pdf
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.163.1815&rep=rep1&type=pdf http://dl.acm.org/citation.cfm?id=1703942 |
| Terms of Use: | This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP |
| Citable link to this page: | http://nrs.harvard.edu/urn-3:HUL.InstRepos:5360186 |
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Peer reviewed scholarly articles from the Faculty of Arts and Sciences of Harvard University
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