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What are selfhealing robots?
These robots have sensorswhich detect any changesin the angle of
their bodywhen physically damaged
and consequently generatea computerised image of
the damaged part
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Self healing metal
terminatorliquid robot
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The target system
The target system in this study is a
quadrupedaled,articulated robot with eight actual
degrees of freedom.
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Overalldimensions oftherobot
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Actuationranges
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Sensormodalities used
1.External sensor to determine the left/right andfront/back tilt
ofthe ground or not.
3.To indicate the robot.2.Sensor to determine whether the feet
is touching
the clearance distance from the robots
underbelly to ground.
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.Starfish robotand itsimage
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How self healing is done?
The robot indirectly infers its own
morphology through self theresulting self models to directed
exploration and then uses synthesize
new behaviour.
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Phases in self healing
PHASES
MODELLING TESTING PREDICTION
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Outline Of The Algorithm
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Self Modelling And
Behaviour
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Results Of Baseline
Algorithms
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Flowchart Of Estimation-
Exploration Phases
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The Simulated Robots
Used For Experimentation
t
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e eura etworArchitecture Used For The
Quadrupedal Robot
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Damage Scenarios
Tested
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Typical Damage
Recoveries Three
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Results From A Succesful
Topological Identification
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A PRACTICAL VIEW
