Swarm intelligence for self-reconfiguring walking robot

Jakimovski, Bojan; Meyer, Benjamin; Maehle, Erik

doi:10.1109/sis.2008.4668286

Cited by 12 publications

(8 citation statements)

References 30 publications

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“…A bond graph model of the quadruped walking robot dynamics in the sagittal plane can be obtained using equations (3), ( 4), (7), and (8) as shown in Fig. 3.…”

Section: Modelling Of the Walking Robotmentioning

confidence: 99%

“…Most of the work done pertaining to fault-tolerant control in walking robots [3][4][5][6] is based on the assumption that the system does not have redundancy and hence is concerned with the generation of fault-tolerant gait patterns for the walking robot. Jakimovski et al [7] attempted to create fault tolerance through reconfiguration using a swarm-intelligencebased approach that did not require additional inverse kinematics modelling. This concept is applicable to robots with more then two legs provided that they are spatially configured in a circle.…”

Section: Introductionmentioning

confidence: 99%

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Reconfiguration of four-legged walking robot for actuator faults

Krishnan

Pathak

Jain

et al. 2011

Proceedings of the Institution of Mechanical Engineers, Part I:

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This paper presents fault accommodation through the reconfiguration of a four legged (quadruped) walking robot. It is assumed that the walking robot is moving using a bounding gait. A bond graph model to represent the robot's locomotion in the sagittal plane is developed. A novel and simple attitude control device based on a moving appendage is proposed. This appendage device serves as redundant hardware and is activated only when the robot experiences a locked joint failure. The bond graph model of the system is used to generate the analytical redundancy relations which are then evaluated with actual measurements to generate residuals. These residuals are used to perform structural fault isolation. Once the fault list is updated in the equipment availability database, an automaton selects the best option to reconfigure the system such that the given control objectives are achieved. The developed methodology is validated by considering the failure of a joint's actuator.

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“…A bond graph model of the quadruped walking robot dynamics in the sagittal plane can be obtained using equations (3), ( 4), (7), and (8) as shown in Fig. 3.…”

Section: Modelling Of the Walking Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Reconfiguration of four-legged walking robot for actuator faults

Krishnan

Pathak

Jain

et al. 2011

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…Many researchers have attempted to employ selforganization network to cope with the multi-agent path planning [10], [11], formation control [12], coordinated control [13], [14], self-reconfigurable [15], [16] and the other complexity and unpredictability systems. They usually focus on how to create an efficient task distribution system for a given multi-agent system, ignore the key challenges of robustness and self-healing.…”

Section: Introductionmentioning

confidence: 99%

The Application of the Multi-Agent Coverage and Self-Healing Control Based on a Swarm Intelligence SONM and Potential Function Approach

et al. 2020

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Self-organizing network will probably be a priority choice for the multi-agent systems because of its good features of configuration, management, optimization and self-healing. In this paper, a swarm intelligence coverage and self-healing method based on the Self-Organizing Network Model (SONM) and potential function is proposed for our multi-agent system. The SNOM is presented with a hierarchical network structure, which mainly includes the link layer design, route establishment and route maintenance. Based on the SNOM, the multi-agent coverage and self-healing control law is devised, and the potential function is designed to realize the collision avoidance, coverage and self-healing control for the multi-agent systems. The proposed approaches are implemented and evaluated by extensive simulations and experiments, and the results confirm that it is feasibility and efficiency in multi-agent coverage and self-healing control.INDEX TERMS Multi-agent system, self-organizing network model, potential function, self-healing control.

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“…19,20 The combination of an FTC approach and swarm-intelligence approach for inverse kinematics modelling are applicable for robots with more than two legs. 21 The analytical redundancy relation (ARR) method of the FDI approach is useful for real-time analysis of sensor failure. 22 The joint actuator and sensor failure may affect the locomotion of legged robots.…”

Section: Introductionmentioning

confidence: 99%

Fault detection, isolation and reconfiguration of a bipedal-legged robot

Singh

Bera

2018

SIMULATION

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This paper deals with the fault detection, isolation (FDI) and reconfiguration of the locomotion of a bipedal-legged robot. Initially, the planar model of the legged robot in the vertical plane is developed using a bond graph (BG) approach. Then, the planar BG model of the legged robot is extended to the three-dimensional legged robot. Two individual motors are used to actuate the prismatic leg of the robot for locomotion. The BG simulation provides results for straight walking based on an oscillating cylinder mechanism and the turning motion of the legged robot are discussed. The prototype model of the legged robot is also developed and experimentation is done for straight and inclined plane applications. Finally, an FDI technique for the three-dimensional model of a legged robot is developed for the generation of fault indicators (i.e., analytical redundancy relations; ARRs) in the presence of system failure. The ARRs are derived from the BG model of the legged robot during the occurrences of the fault. The experimental results are validated with the simulation results for FDI and reconfiguration when the robot manoeuvres in a U-shaped path. The real-time fault diagnosis and reconfiguration for locomotion of the legged robot is possible with this FDI approach.

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Swarm intelligence for self-reconfiguring walking robot

Cited by 12 publications

References 30 publications

Reconfiguration of four-legged walking robot for actuator faults

Reconfiguration of four-legged walking robot for actuator faults

The Application of the Multi-Agent Coverage and Self-Healing Control Based on a Swarm Intelligence SONM and Potential Function Approach

Fault detection, isolation and reconfiguration of a bipedal-legged robot

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