5 accepted papers
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design framework is challenging due to the complexities of representing
This paper outlines the design, specifications, and algorithms for a new modular self-reconfigurable robotic system; at its foundation is a novel modular magnetically geared linear actuator paired with a kinematic coupling connector. Motivating this work is the core idea that high performance actuat…
We introduce the concept of Momentum Driven Structures (MDS) made of inertially actuated units linked together by compliant elements as a potential solution for rough environments exploration. We propose a control method for MDS based on the bio-inspired concept of Central Pattern Generator (CPG) an…
We present a distributed control strategy for the aggregation of multiple modular robots into one connected structure optimized for use with 3D modular pivoting cube robots such as the 3D M-Blocks [1]. We use the intensity from a light source as input to a decentralized control algorithm that drives…
In this paper, we present algorithms for self-reconfiguration of modular robots that move by pivoting. The modules are cubes that can pivot about their edges along the x̂, ŷ, or ẑ axes to move on a 3-dimensional substrate. This is a different model from prior work, which usually considers modules th…