Self Healing Robots93v
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Transcript of Self Healing Robots93v
8/8/2019 Self Healing Robots93v
http://slidepdf.com/reader/full/self-healing-robots93v 1/17
Aarathi Vikas
S7 CSERoll No. 1
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INTRODUCTION
Self healing robots have ability to adapt to minor injuries
A robot is able to infer its own morphology through self
directed exploration
The concept used is multiple competing internal models andgeneration of actions
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THE STARFISH ROBOT-CHARACTERIZING
THE TARGET SYSTEM
y The target system is a quadrapedal,
articulated roboty It consist of a rectangular body and
four legs attached to it with a hinge
joint
y Each leg has a upper and lower leg
attached together with a hinge joint
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All eight hinge joints are actuated with high torque
servomotors
Servo drives capable of producing max 200 ounceinchesof torque and 60o per second speed
Robot can automatically synthesize predictive models of
its own topology
Equipped with suite of different sensors
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SELF MODELLING BRIEFLY Robots depend on internal maps and sensory data to
update their location
In a changing environment the robot has to navigate with
uncertainity
Situation becomes even worse if the robot¶s own shape
and configuration can change
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PHASES IN SELF HEALING
y Self ±Model synthesis
y Exploratory Action synthesis
y Target Behaviour synthesis
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ALGORITHMy Estimation-exploration algorithm is used
y
It has 2 functions: damage hypothesis evolution andcontroller evolution
y It maintains a database which stores pairs of data
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EXPERIMENTAL SETUPy The quadrapedal robot has eight degrees of freedom
y Two one degree-of-freedom rotational joints per
leg:one at the shoulder and one at knee
y It has 4 binary touch sensors and also 4 angle sensors
y All joints are actuated by a torsional motor
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The simulated
robot used for
experimentation
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THE CONTROLLERSy Robots are controlled by a
neural network
y There are 3 layers in the
neural network-input
layer,hidden layer,outputlayer
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DAMAGE RECOVERIES
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Advantages and Disadvantages
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Conclusion