Basic Problems in Self-Assembling Robots and a Case Study of Segregation on Tribolon Platform

  • Shuhei Miyashita
  • Aubery Marchel Tientcheu Ngouabeu
  • Rudolf M. Füchslin
  • Kohei Nakajima
  • Christof Audretsch
  • Rolf Pfeifer
Part of the Studies in Computational Intelligence book series (SCI, volume 355)


It has been a quite while since people realized that self-assembly technique may be a strong method to manufacture 3D micro products. In this contribution, we investigate some major concerns about realizing such a small sized robot. First we introduce the concept of self-assembly and introduce examples both from nature and artificial products. Followed by the main problems in self-assembly which can be seen in various scales, we classify them into four groups - (A) assembly constraint issues, (B) stochastic motion issues, (C) interactions on physical property issues, and (D) engineering issues. Then we show a segregation effect with our developed platform as an example of self-organizing behavior achieved in a distributed manner.


Passive Module Transfer Entropy Modular Robot Mismatch Problem Vibration Motor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Shuhei Miyashita
    • 1
  • Aubery Marchel Tientcheu Ngouabeu
    • 1
  • Rudolf M. Füchslin
    • 1
  • Kohei Nakajima
    • 1
  • Christof Audretsch
    • 1
  • Rolf Pfeifer
    • 1
  1. 1.Artificial Intelligence Laboratory ZurichUniversity of ZurichZurich

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