DocumentCode
2343681
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
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
2767
Lastpage
2772
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2007.4399594
Filename
4399594
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