Experiments in Robotic Self-Repair: A 3D Printer Repairs Its Own Timing Pulley
Type
Conference PaperAuthors
Caballero, RenzoFeron, Eric

KAUST Department
King Abdullah University of Science and Technology,Computer, Electrical and Mathematical Sciences and Engineering Division,Thuwal,Kingdom of Saudi ArabiaComputer, Electrical and Mathematical Science and Engineering (CEMSE) Division
Electrical and Computer Engineering Program
Date
2022-09-05Permanent link to this record
http://hdl.handle.net/10754/680990
Metadata
Show full item recordAbstract
We observe an experiment for self-repair in robots that can fabricate their own parts. A challenge emerges when imperfections or degradations in the robot impact its ability to fabricate ideal components to guarantee self-repair. In the proposed experiment, we start with a defective or degraded component. We do not fabricate an ideal part initially, but only after a sequence of increasing-in-quality parts. We construct and validate two mathematical models to describe the experiment and match the observations. We observe convergence to the ideal part in all experiments and models, thus restoring the capability for self-repair to the robot.Citation
Caballero, R., & Feron, E. (2022). Experiments in Robotic Self-Repair: A 3D Printer Repairs Its Own Timing Pulley. 2022 American Control Conference (ACC). https://doi.org/10.23919/acc53348.2022.9867553Publisher
IEEEConference/Event name
2022 American Control Conference (ACC)Additional Links
https://ieeexplore.ieee.org/document/9867553/ae974a485f413a2113503eed53cd6c53
10.23919/acc53348.2022.9867553