Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules

Authors:
Daniela Rus;Marsette Vona
Affiliations:
Department of Computer Science, Dartmouth College, Hanover, NH 03755, USA. rus@cs.dartmouth.edu;Department of Computer Science, Dartmouth College, Hanover, NH 03755, USA. vona@ai.mit.edu
Venue:
Autonomous Robots
Year:
2001

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Abstract

We discuss a robotic system composed of iCrystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and show the basic motions that enable a Crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.