Benjamin Jenett — accepted AI-conference papers

2020

Recognition and Reconfiguration of Lattice-Based Cellular Structures by Simple Robots

Eike Niehs, Arne Schmidt, Christian Scheffer, Daniel E. Biediger, Michael Yannuzzi, Benjamin Jenett +4

ICRA 2020poster

We consider recognition and reconfiguration of lattice-based cellular structures by very simple robots with only basic functionality. The underlying motivation is the construction and modification of space facilities of enormous dimensions, where the combination of new materials with extremely simpl…

Cited by 26 Source ↗Scholar ↗

2019

Material-Robot System for Assembly of Discrete Cellular Structures

Benjamin Jenett, Amira Abdel-Rahman, Kenneth C. Cheung, Neil Gershenfeld

RA-L 2019

We present a material–robot system consisting of mobile robots that can assemble discrete cellular structures. We detail the manufacturing of cuboctahedral unit cells, termed voxels, which passively connect to neighboring voxels with magnets. We then describe “relative” robots that can locomote on,

Cited by 67 Source ↗Scholar ↗

2017

A mobile robot for locomotion through a 3D periodic lattice environment

Benjamin Jenett, Daniel Cellucci

ICRA 2017poster

This paper describes a novel class of robots specifically adapted to climb periodic lattices, which we call “Relative Robots”. These robots use the regularity of the structure to simplify the path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to lo…

Cited by 19 Source ↗Scholar ↗