Aarathi Vikas

S7 CSE
Roll No. 1
 INTRODUCTION
• Self healing robots have ability to adapt to minor injuries

• A robot is able to infer its own morphology through self

directed exploration
• The concept used is multiple competing internal models and
generation of actions
 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
• 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
SELF MODELLING BRIEFLY
• Robots depend on internal maps and sensory data to
update their location
• In a changing environment the robot has to navigate with
uncertainity
• Situation becomes even worse if the robot’s own shape
and configuration can change
PHASES IN SELF HEALING
Self –Model synthesis

Exploratory Action synthesis

Target Behaviour synthesis

ALGORITHM
Estimation-exploration algorithm is used

It has 2 functions: damage hypothesis evolution and

controller evolution
It maintains a database which stores pairs of data
STEPS INVOLVED….
Exploration phase: Controller evolution

Physical robot failure

Estimation Phase: Damage hypothesis evolution

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

The simulated
robot used for
experimentation
 THE CONTROLLERS
Robots are controlled by a

neural network
There are 3 layers in the

neural network-input
layer,hidden layer,output
layer
DAMAGE SCENARIOS
DAMAGE RECOVERIES
Advantages and Disadvantages
Conclusion