A robotic module for stochastic fluidic assembly of 3D self-reconfiguring structures

— Stochastic self-reconfiguring robots are modular robots that possess the ability to autonomously change the arrangement of their modules and do so through the use of nondeterministic processes. We present a concept for a robotic system in which the stochastic behavior of turbulent flow in a chamber is used during assembly and disassembly operations. The thermorheological properties of Pluronic® are used to implement flow routing for controlling the assembly process. This is the first use of thermorheological valving in three dimensions. A novel reversible module connection mechanism using a low melting point alloy which is soldered in a fluid environment is presented. Together with our approach to selfalignment, these are the innovations required to allow scalable self-directed assembly in three dimensions.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Jonas Neubert, Abraham P. Cantwell, Stephane Constantin, Michael Kalontarov, David Erickson, Hod Lipson
• Keywords: ICRA 2010, Low Melting Point, Modular Robots, Nondeterministic Processes, Robotics