Miche: Modular Shape Formation by Self-Dissasembly

We describe the design, implementation, and experimentation with a collection of robots that, starting from an amorphous arrangement, can be assembled into arbitrary shapes and then commanded to self-disassemble in an organized manner. Each of the 28 modules in the system is implemented as a 1. 8-inch autonomous cube-shaped robot able to connect to and communicate with its immediate neighbors. Two cooperating microprocessors control each module's magnetic connection mechanisms and infrared communication interfaces. When assembled into a structure, the modules form a system that can be virtually sculpted using a computer interface. We report on the hardware design and experiments from hundreds of trials.

Authors

• Kyle Gilpin
• Keith Kotay
• Daniela Rus

Keywords

• Shape
• Robotic assembly
• Amorphous materials
• Robots
• Microprocessors
• Communication system control
• Amorphous magnetic materials
• Optical fiber communication
• Assembly systems
• Computer interfaces
• Shape Formation
• System Modulation
• Communication Interface
• Hundreds Of Trials
• Fine Structure
• Photodiode
• Cubic Structure
• Printed Circuit Board
• Permanent Magnet
• Steel Plate
• Shape Memory
• Final Shape
• Humanoid
• Computer Usage
• Actuation Mechanism
• Controlled Fashion
• Message Transmission
• Hall Sensor
• Joint Point
• Extra Module
• Planetary Gear