Collective Construction of Dynamic Equilibrium Structure Through Interaction of Simple Robots with Semi-active Blocks

  • Ken Sugawara
  • Yohei Doi
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 112)


This paper proposes a collective construction method through interaction between simple robots and intelligent blocks that has a rule set and functions to communicate with neighboring blocks. In our proposed method, the structure is formed by growing chain of blocks. The growth direction is determined by the rule set and a counter value passed between the blocks. The robots load or unload the block based on a simple algorithm and a local signal from the blocks. Because of the simplicity of each robot’s behavior, the structure is locally unstable: the blocks can be attached or detached randomly from the structure even if they have already formed a part of the structure. The structure is considered a dynamic equilibrium structure that is locally unstable but globally stable. In this paper, we first explain the mechanism of our proposal and show some fundamental characteristics obtained by computer simulation. Then, we show the adaptability of the system by introducing simple sensing dynamics for an external stimulus.


Collective construction Dynamic equilibrium Swarm robots Semi-active blocks 



This work was partially supported by a Grant-in-Aid for Scientific Research on Innovative Areas “Molecular Robotics” (No. 24104005) of The Ministry of Education, Culture, Sports, Science, and Technology, Japan.


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Copyright information

© Springer Japan 2016

Authors and Affiliations

  1. 1.Tohoku Gakuin UniversitySendaiJapan

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