Towards self-assembled structures with mobile climbing robots

Lucian Cucu; Mike Rubenstein; Radhika Nagpal

ICRA 2015poster23 citations

Towards self-assembled structures with mobile climbing robots

Lucian Cucu, Mike Rubenstein, Radhika Nagpal

Abstract

Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to climb over like robots under varying conditions. Finally, using a simple self-assembly algorithm relying on only local sensing, robot prototypes are used to demonstrate the self-assembly of a 2D pyramid structure.

BibTeX

@inproceedings{icra2015_towardsselfassem,
  title = {Towards self-assembled structures with mobile climbing robots},
  author = {Lucian Cucu and Mike Rubenstein and Radhika Nagpal},
  booktitle = {ICRA 2015},
  year = {2015}
}