Swarm intelligence for self-reconfiguring walking robot

Bojan Jakimovski, Benjamin Meyer, Erik Maehle


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 languageEnglish
Title of host publication2008 IEEE Swarm Intelligence Symposium
Number of pages8
Publication date22.12.2008
Article number4668286
ISBN (Print)978-1-4244-2704-8 , 978-1-4244-2705-5
Publication statusPublished - 22.12.2008
Event2008 IEEE Swarm Intelligence Symposium
- St. Louis, United States
Duration: 21.09.200823.09.2008
Conference number: 74658


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