Self organizing robots based on cell structures - CKBOT

The Dynamically Reconfigurable Robotic Systea (DRRS) is a new kind of robotic system which is able Lo reconfi- gurate itself to optimal structure depending on purpose and environment. To realize this concept we propose CEBOT (cell structured robot) as a distributed robotic system consisting of separable autonomous units, called cells. The functional cells are able to communicate with each other, approach, connect and separate automatically. If single cells of CEBOT are damaged, they can be repaired or replaced automatically to maintain system function. This makes CEBOT a self repairing and fault tolerant robot system. CEBOT is capable to adapt itself to changing environments, it is a flexible system applicable in space, factory, hostile environments and other conditions. In this paper we propose the approaching, connecting and separating method (rendezvous-docking method) and optimal structure decision method which can determine cell type, arrangement, degree of freedom and link length. Experiments with CEBOT have shown that the automatic approach, connection and separation can be done successfully.