SELF HEALING ROBOT

1. By: Khemant Kumar Naik
Roll No: 08635
Guide: Banchha Nidhi Das

2. INTRODUCTION
• Self healing robots have ability to heal minor injuries.
• A robot is able to study its own structure through self
directed exploration.
• The concept used is multiple competing internal models and
generation of actions

3. THE STARFISH ROBOT-CHARACTERIZING
THE TARGET SYSTEM
 The target system is a quadrapedal,
articulated robot
 It consist of a rectangular body and
four legs attached to it with a hinge
joint
 Each leg has a upper and lower leg
attached together with a hinge joint

4. • All eight hinge joints are actuated with high torque
servomotors
• Servo drives capable of producing max 200 ounceinches
of torque and 60o per second speed
• Robot can automatically synthesize predictive models of
its own topology
• Equipped with suite of different sensors

5. SELF MODELLING CHALLENGES
• Robots depend on internal maps and sensory data to
update their location
• In a changing environment the robot has to navigate with
uncertainty
• Situation becomes even worse if the robot’s own shape
and configuration can change

6. PHASES IN SELF HEALING
 Self –Model synthesis
 Exploratory Action synthesis
 Target Behaviour synthesis

9. STEPS INVOLVED….
 Exploration phase: Controller evolution
 Physical robot failure
 Estimation Phase: Damage hypothesis evolution

10. EXPERIMENTAL SETUP
 The quadrapedal robot has eight degrees of freedom
 Two one degree of freedom rotational joints per leg:
one at the shoulder and one at knee
 It has 4 binary touch sensors and also 4 angle sensors
 All joints are actuated by a torsional motor

12. THE CONTROLLERS
 Robots are controlled by a
neural network
 There are 3 layers in the
neural network-input
layer,hidden layer,output
layer

13. DAMAGE SCENARIOS

14. DAMAGE RECOVERIES

15. Disadvantages …
 Creation of working model is costly
 Designing is complex and time taking
 Yet a perfect industrial model is not produced

16. Conclusion
 Although the possibility of autonomous self-modeling
has been suggested, it has much to perfect
 The robot's abilities suggest a similarity to human
thinking as the robot tries out various actions to figure
out the shape of its world.
 This suggests that future machines may be able to
continually detect changes in their own morphology or
structure

17. Reference …
 www.jyoti.debashish.info
 www.scribd.com
 http://en.wikipedia.org/wiki/Self-Reconfiguring_
Modular_Robotics
 http://ccsl.mae.cornell.edu/research/selfmodels/

18. Thank You
Any Queries ?