"TROLL": a regenerating robot

Title	"TROLL": a regenerating robot
Summary	"TROLL": a regenerating robot
Keywords	regenerative robot, self-detection, body schema, fault detection, self-healingProperty "Keywords" has a restricted application area and cannot be used as annotation property by a user.
TimeFrame	2015-01-16 - 2015-06-31
References	K. Gold, B. Scassellati, Using probabilistic reasoning over time to self-recognize, Robotics and Autonomous Systems (2008), doi:10.1016/j.robot.2008.07.006
Prerequisites	some capability to work with software, and interest in robots and recognition
Author	Yinrong Ma
Supervisor	Martin Cooney, Anita Sant'Anna
Level	Master
Status	Ongoing

Goal: a companion robot which can fix some of its own problems itself

Motivation: people, especially the elderly, cannot be expected to maintain very complex robots; robots should help out

Challenge: it's tough even for humans to repair robots. For a soft companion robot intended to interact closely with people, two very common problems are:

 Degradation of its exterior (marks and scratches)
 Motor problems (due to e.g., frayed/loose cables, gears wearing down)

Approach:

 To detect the problems above, the student will set up a robot to look at itself periodically 
   in a mirror while moving, comparing a mental model of itself with what it actually perceives. 
 Time allowing, the student should also try to develop some capability for the robot to seek to 
   repair identified problems: marking holes in its exterior and damaged motors, and possibly 
   robot motions to try to fill holes with foam

Requirement: some capability to work with software, and interest in robots and recognition

Expected results: a thesis/report, code, video