Autonomous Robots

, Volume 10, Issue 1, pp 107–124

Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules

  • Daniela Rus
  • Marsette Vona

DOI: 10.1023/A:1026504804984

Cite this article as:
Rus, D. & Vona, M. Autonomous Robots (2001) 10: 107. doi:10.1023/A:1026504804984


We discuss a robotic system composed of Crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and show the basic motions that enable a Crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.

self-reconfiguration robotsmodular robotsreconfiguration planning

Copyright information

© Kluwer Academic Publishers 2001

Authors and Affiliations

  • Daniela Rus
    • 1
  • Marsette Vona
    • 1
  1. 1.Department of Computer ScienceDartmouth CollegeHanoverUSA