University of Tokyo engineers have taught a robot how to repair itself. Well, they taught it to tighten its own screws. And with that skill, it also was able to self-install a hook for hanging a tote bag from its shoulder. From IEEE Spectrum:
At the moment, the robot can’t directly detect on its own whether a particular screw needs tightening, although it can tell if its physical pose doesn’t match its digital model, which suggests that something has gone wonky. It can also check its screws autonomously from time to time, or rely on a human physically pointing out that it has a screw loose, using the human’s finger location to identify which screw it is. Another challenge is that most robots, like most humans, are limited in the areas on themselves that they can comfortably reach. So to tighten up everything, they might have to find themselves a robot friend to help, just like humans help each other put on sunblock.
And here is their technical paper: "Self-Repair and Self-Extension by Tightening Screws based onPrecise Calculation of Screw Pose of Self-Body with CAD Dataand Graph Search with Regrasping a Driver" Read the rest