Self-Reconfigurable Robots

Technical Report · 01 October 2002

DOI:https://doi.org/10.2172/805834· OSTI ID:805834

HENSINGER, DAVID M ^[1]; JOHNSTON, GABRIEL A; HINMAN-SWEENEY, ELAINE M; FEDDEMA, JOHN T; ESKRIDGE, STEVEN E

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1. Sandia National Laboratories

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighbors using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.

• Research Organization: Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
• Sponsoring Organization: US Department of Energy (US)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 805834
• Report Number(s): SAND2002-3237
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
ACTUATORS
COMMUNICATIONS
DESIGN
DIMENSIONS
MINIATURIZATION
MODULAR STRUCTURES
PLANNING
ROBOTS