NDLI: Self-Assembly Through the Interplay between Control and Mechanical Systems

Content Provider	IEEE Xplore Digital Library
Author	Ishiguro, A. Maegawa, T.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. & Commun. Eng., Tohoku Univ. (Ishiguro, A.; Maegawa, T.)
Abstract	One of the most graceful phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon still leaves much to be understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of self-assembly with the use of a modular robot. The main contributions of this paper are two-fold: the first concerns the exploitation of emergent phenomena stemming from the interplay between the control and mechanical systems; the second is related to the implementation of the different adhesiveness among the modules. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. Simulation results show that stable and spontaneous self-assembly is achieved irrespective of the initial positional relationship among the modules
Starting Page	631
Ending Page	638
File Size	1482550
Page Count	8
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282546
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Self-assembly Control systems Mechanical systems Emergent phenomena Size control Force control Intelligent robots Communication system control Systems biology Evolution (biology) fully decentralized control self-repair modular robot emergence
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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