Self-Reconfiguration Planning with Compressible Unit Modules

We discuss a robotic system composed of Crystalline modules. Crystaline 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 selfreconfigure. We present an algorithm for general selfreconfiguration and describe simulation experiments.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Daniela Rus, Marsette Vona
• Keywords: Crystalline Module, Crystalline Module Concept, Crystalline Robot, ICRA 1999, Robotics