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Enabling robustness to failure with modular field robots.

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Summary
This summary is machine-generated.

Modular robots can eject failed parts to improve mission length and robustness. This modular robotic architecture enhances robot performance in challenging environments, even with actuator failures.

Keywords:
cellular and modular robotsfield robotsrobot morphologyspace roversuncrewed autonomous vehicles

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Area of Science:

  • Robotics
  • Mechanical Engineering

Background:

  • Actuator failures in remotely deployed robots decrease efficiency and operability.
  • Increasing robot autonomy and remote operation necessitate enhanced failure robustness.

Purpose of the Study:

  • To present modular robotic architecture approaches for improving robustness to actuator failure.
  • To enhance both fixed-configuration and modular reconfigurable robots.

Main Methods:

  • Utilized modular reconfigurable robots capable of altering locomotion and morphology by ejecting modules.
  • Implemented testing in both Gazebo simulations and physical field trials.
  • Compared performance against robots with fixed configurations and controllers.

Main Results:

  • Modular robots demonstrated improved distance traveled and reduced environmental traversal effort.
  • Robots with adaptable locomotion showed greater robustness to actuator failure than fixed-controller robots.
  • Robots that could change both locomotion and morphology significantly outlasted fixed-morphology counterparts.

Conclusions:

  • Ejecting modular failed components can enhance overall mission duration.
  • Modular robotic systems offer a viable solution for improving robot resilience in autonomous operations.
  • Adaptable locomotion and morphology are key to robust robotic performance in the face of component failure.