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Proceedings Paper

Self-repairing mechanical systems
Author(s): Satoshi Murata; Eiichi Yoshida; Haruhisa Kurokawa; Kohji Tomita; Shigeru Kokaji
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Paper Abstract

A concept of a self-repairable mechanical system which is composed of homogeneous mechanical units is described. We have developed a modular system capable of 'self-assembly' and self-repair. The former means a set of units can form a given shape of the system without outside help, and the latter means the system restores the original shape if an arbitrary part of the system cut off. We show both of 2D and 3D unit design, and distributed algorithm for the units.

Paper Details

Date Published: 26 August 1999
PDF: 12 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360341
Show Author Affiliations
Satoshi Murata, Mechanical Engineering Lab. (Japan)
Eiichi Yoshida, Mechanical Engineering Lab. (Japan)
Haruhisa Kurokawa, Mechanical Engineering Lab. (Japan)
Kohji Tomita, Mechanical Engineering Lab. (Japan)
Shigeru Kokaji, Mechanical Engineering Lab. (Japan)

Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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