Date of this Version
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.
Yim, Mark; Shirmohammadi, Babak; Sastra, Jimmy; Park, Michael; Dugan, Michael; and Taylor, Camillo J., "Towards Robotic Self-reassembly After Explosion" (2007). Departmental Papers (MEAM). 147.
Date Posted: 30 April 2008
This document has been peer reviewed.