Yu, Chih-HanNagpal, Radhika2011-12-052009Yu, 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.978-1-4244-2788-81050-4729http://nrs.harvard.edu/urn-3:HUL.InstRepos:5360186Biological 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.en-USactuatorsbiological systemsgrippershardwarelight sourcesrobot kinematicsrobot sensing systemsrobotics and automationrobustnessConference Paper2011-12-0510.1109/ROBOT.2009.5152663