Self-repairing mechanical systems

Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, Kohji Tomita, Shigeru Kokaji

Research output: Contribution to journalArticlepeer-review

83 Citations (Scopus)


This paper reviews several types of self-repairing systems developed in the Mechanical Engineering Laboratory. We have developed a modular system capable of `self-assembly' and `self-repair.' The former means a set of units can form a given shape of the system without outside help; the latter means the system restores the original shape if an arbitrary part of the system is cut off. We show both two-dimensional and three-dimensional unit designs, and distributed algorithms for the units.

Original languageEnglish
Pages (from-to)7-21
Number of pages15
JournalAutonomous Robots
Issue number1
Publication statusPublished - 2001


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