Data for: Towards the Development of Robot Immune System: A Combined Approach involving Innate Immune Cells and T-lymphocytes.

We have created a ROS-package, ris_v1 to maintain robots’ internal health-equilibrium. The package, ris_v1 successfully detect faults in the robot and help it to recover from them before the degradation of its performance. It is then applied to a simulated robot in virtual robot experimentation platform. We established that the system is able to autonomously detect the abnormal behaviors due to faults, perform the recovery actions as well as maintain the homeostasis in the robot.

本团队研发了一套名为ris_v1的ROS软件包，旨在维持机器人内部的健康平衡。该软件包成功实现了对机器人故障的检测，并协助其从故障中恢复，从而避免性能下降。随后，该软件包被应用于虚拟机器人实验平台上的模拟机器人。经实验验证，该系统具备自主检测由故障引起的异常行为、执行恢复动作以及维持机器人稳态的能力。