A Fault‐Tolerant Approach for Modular Robots through Self‐Reconfiguration
Modular robots have unique advantages in handling faults and improving their robustness due to their self‐reconfiguration capacity and homogeneous interchangeability. When locked joint failure occurs in modular robots, the distribution of the failed modules will affect the manipulation capacity of the robot. In this article, a novel self‐reconfiguration method that utilizes only the remaining resources available to mitigate the damage caused by module joint failures is proposed. The key node configuration is searched by the particle swarm optimization (PSO) algorithm, and then the collision‐free reconfiguration path is planned by the rapidly exploring random trees (RRT) algorithm. The proposed method not only handles single‐module lockup failure but can also be expanded to multi‐module lockup failures, fully improving the fault tolerance of the modular robot. The method is deployed on the hardware, and the feasibility of the algorithm is verified by self‐reconfiguration experiments containing faulty modules.
- Standort
-
Deutsche Nationalbibliothek Frankfurt am Main
- Umfang
-
Online-Ressource
- Sprache
-
Englisch
- Erschienen in
-
A Fault‐Tolerant Approach for Modular Robots through Self‐Reconfiguration ; day:13 ; month:06 ; year:2024 ; extent:13
Advanced intelligent systems ; (13.06.2024) (gesamt 13)
- Urheber
-
Qi, Jian
Lai, Mingzhu
Yang, Zhiyuan
Zhao, Ning
Han, Kai
Sui, Xin
Zhao, Jie
Zhu, Yanhe
- DOI
-
10.1002/aisy.202300774
- URN
-
urn:nbn:de:101:1-2406131422327.635040488801
- Rechteinformation
-
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Letzte Aktualisierung
-
14.08.2025, 10:53 MESZ
Datenpartner
Deutsche Nationalbibliothek. Bei Fragen zum Objekt wenden Sie sich bitte an den Datenpartner.
Beteiligte
- Qi, Jian
- Lai, Mingzhu
- Yang, Zhiyuan
- Zhao, Ning
- Han, Kai
- Sui, Xin
- Zhao, Jie
- Zhu, Yanhe
Ähnliche Objekte (12)
The cytological changes of tobacco zygote and proembryo cells induced by beta-glucosyl Yariv reagent suggest the involvement of arabinogalactan proteins in cell division and cell plate formation
Convergence rates in homogenization of p-Laplace equations
Detecting overlapping protein complexes in weighted PPI network based on overlay network chain in quotient space
Fighting wheat rusts in China: a look back and into the future
Investigating spatiotemporal dynamics and trade-off/synergy of multiple ecosystem services in response to land cover change: a case study of Nanjing city, China
Model-independent Approach of the JUNO $^8}$B Solar Neutrino Program
Convergence rates of nonlinear Stokes problems in homogenization
Model-independent Approach of the JUNO $^8}$B Solar Neutrino Program
Developments and Challenges of Miniature Piezoelectric Robots: A Review
Optimal resource allocation method and fault-tolerant control for redundant robots
Fault-tolerant quantum computing
Asymptotically fault-tolerant programmable photonics
The cytological changes of tobacco zygote and proembryo cells induced by beta-glucosyl Yariv reagent suggest the involvement of arabinogalactan proteins in cell division and cell plate formation
Convergence rates in homogenization of p-Laplace equations
Detecting overlapping protein complexes in weighted PPI network based on overlay network chain in quotient space
Fighting wheat rusts in China: a look back and into the future
Investigating spatiotemporal dynamics and trade-off/synergy of multiple ecosystem services in response to land cover change: a case study of Nanjing city, China
Model-independent Approach of the JUNO $^8}$B Solar Neutrino Program
Convergence rates of nonlinear Stokes problems in homogenization
Model-independent Approach of the JUNO $^8}$B Solar Neutrino Program
Developments and Challenges of Miniature Piezoelectric Robots: A Review
Optimal resource allocation method and fault-tolerant control for redundant robots
Fault-tolerant quantum computing
Asymptotically fault-tolerant programmable photonics
The cytological changes of tobacco zygote and proembryo cells induced by beta-glucosyl Yariv reagent suggest the involvement of arabinogalactan proteins in cell division and cell plate formation
Convergence rates in homogenization of p-Laplace equations
Detecting overlapping protein complexes in weighted PPI network based on overlay network chain in quotient space
Fighting wheat rusts in China: a look back and into the future
Investigating spatiotemporal dynamics and trade-off/synergy of multiple ecosystem services in response to land cover change: a case study of Nanjing city, China
Model-independent Approach of the JUNO $^8}$B Solar Neutrino Program
Convergence rates of nonlinear Stokes problems in homogenization
Model-independent Approach of the JUNO $^8}$B Solar Neutrino Program
Developments and Challenges of Miniature Piezoelectric Robots: A Review
Optimal resource allocation method and fault-tolerant control for redundant robots
Fault-tolerant quantum computing