Polymorphic Robotics, self-adaptive, self-organizing, and generally self-* properties of robotics are usually related to the field of machine consciousness. Basically, some degree of self-consciousness is required to self-repair or self-heal a robot. The SASO 2007 Conference covers this discipline (First IEEE International Conference on Self-Adaptive and Self-Organizing Systems. Boston, Mass., USA, July 9-11, 2007) .
Related topics are: self-organization, self-adaptiveness, self-management, self-monitoring, self-tuning, self-repair, self-configuration. There is no doubt that integrating these kinds of techniques with higher cognitive models requires a machine consciousness like model.
Some examples of polymorphic robots are available from the Polymorphic Robotics Lab at University of Southern California .
 USC Polymorphic Robotics Lab