Experiments in Robotic Self-Repair: A 3D Printer Repairs Its Own Timing Pulley

Renzo Caballero, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations


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.

Original languageEnglish (US)
Title of host publication2022 American Control Conference, ACC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781665451963
StatePublished - 2022
Event2022 American Control Conference, ACC 2022 - Atlanta, United States
Duration: Jun 8 2022Jun 10 2022

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2022 American Control Conference, ACC 2022
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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