Distributed algorithms for shape sculpting of lattice-arrayed modular robots via hole motion

A self-reconfigurable modular robot can change its own shape by rearranging the connectivity of the modules of which it is composed. In this paper, we focus on a two-dimensional lattice-arrayed self-reconfigurable modular robotic system. Each module can move to a neighboring lattice under certain motion constraints, communicate with its neighbors and act upon local knowledge only. A scalable shape sculpting algorithm based on the manipulation of regularly shaped voids within the lattice (“holes”) is given. We present detailed solutions to the conflict test and settlement problem encountered when applying this algorithm, and make improvement on the efficiency of shape sculpting. We believe that the algorithm can potentially generalize to 3D and scale to handle millions of modules.published_or_final_versio

Motion Planning and Reconfiguration for Systems of Multiple Objects

This chapter surveys some recent results on motion planning and reconfiguration for systems of multiple objects and for modular systems with applications in robotics.

Scalable modular self-reconfigurable robots using external actuation

Abstract — This paper presents a method for scaling down the size and scaling up the number of modules of self-reconfigurable systems by focusing on the actuation mechanism. Rather than developing smaller actuators, the main actuator is removed entirely. Energy instead comes from the environment to provide motion in prescribed synchronous ways. Prescribed synchronous motions allow much faster assembly times than random Brownian motion which has been used before. An instantiation of this idea is presented using a motion platform to induce motions based on the inertial properties of the modules and the timed actuation of small latching mechanisms. I

DETC2004-57488 AN ALGORITHM FOR EFFICIENT SELF-RECONFIGURATION OF CHAIN-TYPE UNIT-MODULAR ROBOTS

ABSTRACT The problem of self-reconfiguration of modular robots is discussed, and an algorithm for efficient parallel selfreconfiguration is presented. While much of the previous work has been focused on the lattice-type modular robots, this paper addresses the self-reconfiguration of chain-type robots. Relatively little attention has heretofore been given to this subproblem, and of the existing work, none incorporates the kinematic limitations of real-life robots into the reconfiguration algorithm itself. The method presented here is based on understanding a robot's physical "composition" using a graphtheoretic robot representation, and it sheds new light on selfreconfiguration of chain-type modular robots by incorporating elements of the robot kinematics as part of the criteria in choosing reconfiguration steps

Motion planning and reconfiguration for systems of multiple objects

Abstract This chapter surveys some recent results on motion planning and reconfiguration for systems of multiple objects and for modular systems with applications in robotics