Organic Fault-Tolerant Controller for the Walking Robot OSCAR

F. Moesch; M. Litza; B. Jakimovski; E. Maehle; W. Brockmann; Adam-Pharaoun El Sayed Auf

Organic Fault-Tolerant Controller for the Walking Robot OSCAR

F. Moesch, M. Litza, B. Jakimovski, E. Maehle, W. Brockmann, Adam-Pharaoun El Sayed Auf

Institute of Computer Engineering

Abstract

A robust, fault-tolerant autonomous walking robot OSCAR and its control architecture are presented. Organic Computing methods, self-organization in particular, are used to make the robot tolerant to faults of parts of itself (defective motors e.g.) or unforeseen situations it might be faced within an unstructured environment. Inspired by nature, our robot generates its gaits autonomously. In case of an injury or even the loss of one leg, OSCAR will adapt its gait to only use the remaining legs and walk ahead in a self-organizing way. We describe modifications we applied to a second prototype that allows that robot to optimize its gaits further to be able to walk also in difficult terrain.

Original language	English
Title of host publication	20th International Conference on Architecture of Computing Systems 2007
Number of pages	5
Publisher	VDE Verlag GmbH
Publication date	01.03.2007
Pages	1-5
ISBN (Print)	978-3-8007-3015-5
Publication status	Published - 01.03.2007
Event	20th International Conference on Architecture of Computing Systems 2007 - Zurich, Switzerland Duration: 15.03.2007 → 15.03.2007

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title = "Organic Fault-Tolerant Controller for the Walking Robot OSCAR",

abstract = "A robust, fault-tolerant autonomous walking robot OSCAR and its control architecture are presented. Organic Computing methods, self-organization in particular, are used to make the robot tolerant to faults of parts of itself (defective motors e.g.) or unforeseen situations it might be faced within an unstructured environment. Inspired by nature, our robot generates its gaits autonomously. In case of an injury or even the loss of one leg, OSCAR will adapt its gait to only use the remaining legs and walk ahead in a self-organizing way. We describe modifications we applied to a second prototype that allows that robot to optimize its gaits further to be able to walk also in difficult terrain.",

author = "F. Moesch and M. Litza and B. Jakimovski and E. Maehle and W. Brockmann and {El Sayed Auf}, Adam-Pharaoun",

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Moesch, F, Litza, M, Jakimovski, B, Maehle, E, Brockmann, W & El Sayed Auf, A-P 2007, Organic Fault-Tolerant Controller for the Walking Robot OSCAR. in 20th International Conference on Architecture of Computing Systems 2007. VDE Verlag GmbH, pp. 1-5, 20th International Conference on Architecture of Computing Systems 2007, Zurich, Switzerland, 15.03.07. <https://ieeexplore.ieee.org/document/5756024>

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T1 - Organic Fault-Tolerant Controller for the Walking Robot OSCAR

AU - Moesch, F.

AU - Litza, M.

AU - Jakimovski, B.

AU - Maehle, E.

AU - Brockmann, W.

AU - El Sayed Auf, Adam-Pharaoun

PY - 2007/3/1

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N2 - A robust, fault-tolerant autonomous walking robot OSCAR and its control architecture are presented. Organic Computing methods, self-organization in particular, are used to make the robot tolerant to faults of parts of itself (defective motors e.g.) or unforeseen situations it might be faced within an unstructured environment. Inspired by nature, our robot generates its gaits autonomously. In case of an injury or even the loss of one leg, OSCAR will adapt its gait to only use the remaining legs and walk ahead in a self-organizing way. We describe modifications we applied to a second prototype that allows that robot to optimize its gaits further to be able to walk also in difficult terrain.

AB - A robust, fault-tolerant autonomous walking robot OSCAR and its control architecture are presented. Organic Computing methods, self-organization in particular, are used to make the robot tolerant to faults of parts of itself (defective motors e.g.) or unforeseen situations it might be faced within an unstructured environment. Inspired by nature, our robot generates its gaits autonomously. In case of an injury or even the loss of one leg, OSCAR will adapt its gait to only use the remaining legs and walk ahead in a self-organizing way. We describe modifications we applied to a second prototype that allows that robot to optimize its gaits further to be able to walk also in difficult terrain.

M3 - Conference contribution

SN - 978-3-8007-3015-5

SP - 1

EP - 5

BT - 20th International Conference on Architecture of Computing Systems 2007

PB - VDE Verlag GmbH

T2 - 20th International Conference on Architecture of Computing Systems 2007

Y2 - 15 March 2007 through 15 March 2007

ER -

Organic Fault-Tolerant Controller for the Walking Robot OSCAR

Abstract

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