Em-cube: cube-shaped, self-reconfigurable robots sliding on structure surfaces

Many previous works simulate cube-shaped modular robots to explain their systems and algorithms. This paper explores a cube-shaped, self-reconfigurable system composed of EM-Cube robot modules. The paper describes the system's design, implementation, movement algorithms, and experimentation. It reports on the hardware and software, and presents the algorithms of linear walking, convex and concave transition, and locomotion. Finally, it discusses EM-Cube locomotion experiments.

[1]  Iuliu Vasilescu,et al.  Miche: Modular Shape Formation by Self-Disassembly , 2008, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[2]  H. Kurokawa,et al.  Self-assembling machine , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[3]  Daniela Rus,et al.  Motion synthesis for the self-reconfiguring molecule , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[4]  Eiichi Yoshida,et al.  A 3-D self-reconfigurable structure , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  Daniela Rus,et al.  Self-reconfiguring robots: designs, algorithms, and applications , 2004 .

[6]  Gregory S. Chirikjian,et al.  Kinematics of a metamorphic robotic system , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[7]  Hod Lipson,et al.  Stochastic self-reconfigurable cellular robotics , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[8]  Craig D. McGray,et al.  The self-reconfiguring robotic molecule , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[9]  D. Rus,et al.  Efficient Locomotion for a Self-Reconfiguring Robot , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[10]  Daniela Rus,et al.  Algorithms for self-reconfiguring molecule motion planning , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[11]  Eiichi Yoshida,et al.  Micro Self-Reconfigurable Robotic System using Shape Memory Alloy , 2000, DARS.

[12]  Pradeep K. Khosla,et al.  A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning , 2001, Auton. Robots.

[13]  Hod Lipson,et al.  Experiment Design for Stochastic Three-Dimensional Reconfiguration of Modular Robots , 2007 .

[14]  Hod Lipson,et al.  Three Dimensional Stochastic Reconfiguration of Modular Robots , 2005, Robotics: Science and Systems.

[15]  Craig D. McGray,et al.  The self-reconfiguring robotic molecule: design and control algorithms , 1998 .

[16]  Daniela Rus,et al.  Locomotion versatility through self-reconfiguration , 1999, Robotics Auton. Syst..

[17]  Z. Butler,et al.  Generic Decentralized Locomotion Control for Lattice-Based Self-Reconfigurable Robots , 2004 .

[18]  Marsette Vona,et al.  Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules , 2001, Auton. Robots.

[19]  Michihiko KOSEKI,et al.  Cellular Robots Forming a Mechanical Structure , 2004, DARS.

[20]  Zack J. Butler,et al.  Generic decentralized control for a class of self-reconfigurable robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[21]  Hajime Asama,et al.  Self-organizing collective robots with morphogenesis in a vertical plane , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[22]  Daniela Rus,et al.  Generic distributed assembly and repair algorithms for self-reconfiguring robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[23]  Daniela Rus,et al.  Miche: Modular Shape Formation by Self-Dissasembly , 2007, ICRA.

[24]  Gregory S. Chirikjian,et al.  Design And Implementation Of Metamorphic Robots , 1996 .

[25]  Mark Yim,et al.  Telecubes: mechanical design of a module for self-reconfigurable robotics , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[26]  Zack J. Butler,et al.  Generic Decentralized Control for Lattice-Based Self-Reconfigurable Robots , 2004, Int. J. Robotics Res..

[27]  Marsette Vona,et al.  Using Modular Self-Reconfiguring Robots for Locomotion , 2000, ISER.