Enabling robustness to failure with modular field robots Article Swipe
Troy Cordie
,
Jonathan Roberts
,
Matthew Dunbabin
,
Ross Dungavell
,
Tirthankar Bandyopadhyay
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3389/frobt.2024.1225297
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3389/frobt.2024.1225297
Actuator failure on a remotely deployed robot results in decreased efficiency or even renders it inoperable. Robustness to these failures will become critical as robots are required to be more independent and operate out of the range of repair. To address these challenges, we present two approaches based on modular robotic architecture to improve robustness to actuator failure of both fixed-configuration robots and modular reconfigurable robots. Our work uses modular reconfigurable robots capable of modifying their style of locomotion and changing their designed morphology through ejecting modules. This framework improved the distance travelled and decreased the effort to move through the environment of simulated and physical robots. When the deployed robot was allowed to change its locomotion style, it showed improved robustness to actuator failure when compared to a robot with a fixed controller. Furthermore, a robot capable of changing its locomotion and design morphology statistically outlasted both tests with a fixed morphology. Testing was carried out using a gazebo simulation and validated in multiple tests in the field. We show for the first time that ejecting modular failed components can improve the overall mission length.
Related Topics
Concepts
Robustness (evolution)
Modular design
Robot
Self-reconfiguring modular robot
Computer science
Actuator
Simulation
Mobile robot
Control engineering
Distributed computing
Artificial intelligence
Robot control
Engineering
Biochemistry
Gene
Operating system
Chemistry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3389/frobt.2024.1225297
- https://www.frontiersin.org/articles/10.3389/frobt.2024.1225297/pdf?isPublishedV2=False
- OA Status
- gold
- Cited By
- 2
- References
- 48
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4392754666
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4392754666Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3389/frobt.2024.1225297Digital Object Identifier
- Title
-
Enabling robustness to failure with modular field robotsWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-03-13Full publication date if available
- Authors
-
Troy Cordie, Jonathan Roberts, Matthew Dunbabin, Ross Dungavell, Tirthankar BandyopadhyayList of authors in order
- Landing page
-
https://doi.org/10.3389/frobt.2024.1225297Publisher landing page
- PDF URL
-
https://www.frontiersin.org/articles/10.3389/frobt.2024.1225297/pdf?isPublishedV2=FalseDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://www.frontiersin.org/articles/10.3389/frobt.2024.1225297/pdf?isPublishedV2=FalseDirect OA link when available
- Concepts
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Robustness (evolution), Modular design, Robot, Self-reconfiguring modular robot, Computer science, Actuator, Simulation, Mobile robot, Control engineering, Distributed computing, Artificial intelligence, Robot control, Engineering, Biochemistry, Gene, Operating system, ChemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
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2025: 2Per-year citation counts (last 5 years)
- References (count)
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48Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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