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Summary: 1
Efficient Reconfiguration of
Lattice-Based Modular Robots
Greg Aloupis Nadia Benbernou Mirela Damian Erik D. Demaine Robin Flatland§
John Iacono¶ Stefanie Wuhrer
Universit´e Libre de Bruxelles, Belgique
Massachusetts Institute of Technology, Cambridge, USA
Villanova University, Villanova, USA
§Siena College, Loudonville, USA
¶Polytechnic Institute of New York University, USA
Carleton University, Ottawa, Canada
Abstract-- Modular robots consist of many small units that
attach together and can perform local motions. By combining
these motions, we can achieve a reconfiguration of the global
shape. The term modular comes from the idea of grouping
together a fixed number of units into a module, which behaves
as a larger individual component.
Recently, a fair amount of research has focused on Crystalline
robots, whose units (and modules) fit on a cubic lattice. When
the proper module size is formed, these robots can reconfigure
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