Title :
Towards robotic self-reassembly after explosion
Author :
Yim, Mark ; Shirmohammadi, Babak ; Sastra, Jimmy ; Park, Michael ; Dugan, Michael ; Taylor, C.J.
Author_Institution :
Univ. of Pennyslvania, Philadelphia
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
This paper introduces a new challenge problem: designing robotic systems to recover after disassembly from high-energy events and a first implemented solution of a simplified problem. It uses vision-based localization for self- reassembly. The control architecture for the various states of the robot, from fully-assembled to the modes for sequential docking, are explained and inter-module communication details for the robotic system are described.
Keywords :
intelligent robots; robot vision; high-energy events; inter-module communication details; robotic self-reassembly; sequential docking; vision-based localization; Earthquakes; Explosions; Explosives; Injuries; Intelligent robots; Notice of Violation; Protection; Robustness; Self-assembly; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399594
