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Erschienen in:
Design of a Needle Insertion Module for Robotic Assisted Transperineal Prostate Biopsy Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

Organising Bodyformation of Modular Autonomous Robots Using Virtual Embryogenesis

verfasst von : M. Daushan, R. Thenius, K. Crailsheim, Th. Schmickl

Erschienen in: New Trends in Medical and Service Robots

Verlag: Springer International Publishing

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Abstract

In this paper the ability of Virtual Embryogenesis system (VE) to initiate and facilitate the build process of a multi-robot organism is presented. According to a single genome, which is spread in the whole organism, substances (morphogenes) are diffused to all neighbouring robots within the organism and new modules are recruited to advance the building process. Different shapes can be built by this system using different, pre-evolved genomes. This ability to build a robotic modular organism is very stable and is not influenced by the environment the controlling genome has evolved in. The presented method is suggested to control modular robots in future applications in dynamic environments, e.g., in interaction with humans.

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Vorheriges Kapitel Bio-Kinematic Design of Individualized Lift-Assist Devices
Nächstes Kapitel Sensor and Control Concept for a Wearable Robot for Manual Load Handling Assistance
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Metadaten
Titel
Organising Bodyformation of Modular Autonomous Robots Using Virtual Embryogenesis
verfasst von
M. Daushan
R. Thenius
K. Crailsheim
Th. Schmickl
Copyright-Jahr
2018
Buch
New Trends in Medical and Service Robots

Print ISBN: 978-3-319-59971-7

Electronic ISBN: 978-3-319-59972-4

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-59972-4_6