An Actuation Fault Tolerance Approach to Reconfiguration Planning of Modular Self-folding Robots
Meibao Yao,Xueming Xiao,Yang Tian,Hutao Cui,Jamie Paik,Meibao Yao,Xueming Xiao,Yang Tian,Hutao Cui,Jamie Paik
This paper presents a novel approach to fault tolerant reconfiguration of modular self-folding robots. Among various types of faults that probably occur in the modular system, we focus on the tolerance of complete actuation failure of active modules that might cause imprecise robotic motion and even reconfiguration failure. Our approach is to utilize the reconfigurability of modular self-folding r...
