Autonomous Robots

, Volume 10, Issue 1, pp 107-124

First online:

Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules

  • Daniela RusAffiliated withDepartment of Computer Science, Dartmouth College
  • , Marsette VonaAffiliated withDepartment of Computer Science, Dartmouth College

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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 robots modular robots reconfiguration planning