Design of prismatic cube modules for convex corner traversal in 3D

  • Authors:

  • Michael Philetus Weller;Brian T. Kirby;H. Benjamin Brown;Mark D. Gross;Seth Copen Goldstein

  • Affiliations:

  • Computational Design Lab, Carnegie Mellon University;Claytronics, Carnegie Mellon University;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA;Computational Design Lab, Carnegie Mellon University;Claytronics, Carnegie Mellon University

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

The prismatic cube style of modular robot is a promising design for realizing self-reconfigurable 3D lattices. Cubic lattices with prismatic transitions simplify many aspects of the hardware and planning control needed for reconfiguration. Despite much research on how cubic modules can coordinate to reconfigure, until now these transitions have not been fully demonstrated in hardware.We describe our movement primitives for both orthogonal and convex corner transitions with prismatic cube modules. We discuss the design of a hardware module capable of performing these transitions, as well as assess the performance of this hardware in an initial demonstration of these transitions.