Swarm intelligence for self-reconfiguring walking robot

Bojan Jakimovski; Benjamin Meyer; Erik Maehle

doi:10.1109/SIS.2008.4668286

Swarm intelligence for self-reconfiguring walking robot

Bojan Jakimovski, Benjamin Meyer, Erik Maehle

Institute of Computer Engineering

Abstract

A robust swarm intelligence based approach for the self-reconfiguration of a fault-tolerant multi-legged walking robot is elaborated in this paper. It is used to reconfigure the posture of the legs of the robot after some failure has occurred within the robot's legs and it is based on the intrinsic properties seen within swarms and boids in nature. The reconfiguration method presented does not consider any conventional Inverse kinematics modeling. Instead it is solely based on swarm intelligence concepts. Throughout the paper we describe the idea behind this approach, the principle of its operation, and we demonstrate its practical usefulness in several test-cases demonstrated on our hexapod robot - OSCAR (Organic Self Configuring and Adapting Robot).

Original language	English
Title of host publication	2008 IEEE Swarm Intelligence Symposium
Number of pages	8
Publisher	IEEE
Publication date	22.12.2008
Pages	1-8
Article number	4668286
ISBN (Print)	978-1-4244-2704-8 , 978-1-4244-2705-5
DOIs	https://doi.org/10.1109/SIS.2008.4668286
Publication status	Published - 22.12.2008
Event	2008 IEEE Swarm Intelligence Symposium - St. Louis, United States Duration: 21.09.2008 → 23.09.2008 Conference number: 74658

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title = "Swarm intelligence for self-reconfiguring walking robot",

abstract = "A robust swarm intelligence based approach for the self-reconfiguration of a fault-tolerant multi-legged walking robot is elaborated in this paper. It is used to reconfigure the posture of the legs of the robot after some failure has occurred within the robot's legs and it is based on the intrinsic properties seen within swarms and boids in nature. The reconfiguration method presented does not consider any conventional Inverse kinematics modeling. Instead it is solely based on swarm intelligence concepts. Throughout the paper we describe the idea behind this approach, the principle of its operation, and we demonstrate its practical usefulness in several test-cases demonstrated on our hexapod robot - OSCAR (Organic Self Configuring and Adapting Robot).",

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AB - A robust swarm intelligence based approach for the self-reconfiguration of a fault-tolerant multi-legged walking robot is elaborated in this paper. It is used to reconfigure the posture of the legs of the robot after some failure has occurred within the robot's legs and it is based on the intrinsic properties seen within swarms and boids in nature. The reconfiguration method presented does not consider any conventional Inverse kinematics modeling. Instead it is solely based on swarm intelligence concepts. Throughout the paper we describe the idea behind this approach, the principle of its operation, and we demonstrate its practical usefulness in several test-cases demonstrated on our hexapod robot - OSCAR (Organic Self Configuring and Adapting Robot).

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Swarm intelligence for self-reconfiguring walking robot

Abstract

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