Three Dimensional Stochastic Reconfiguration of Modular Robots

• DOI: 10.15607/rss.2005.i.022
• Publication Date: 2016-01-03T02:36:08Z
• Authors: Paul White; Victor Zykov; Josh Bongard; Hod Lipson
• Keywords: Self-reconfiguring modular robot; Control reconfiguration

Here we introduce one simulated and two physical three-dimensional stochastic modular robot systems, all capable of self-assembly self-reconfiguration.We assume that individual units can only draw power when attached to the growing structure, have no means actuation.Instead they are subject random motion induced by surrounding medium unattached.We present a simulation environment with flexible scripting language allows for parallel serial selfassembly self-reconfiguration processes.We explore factors govern rate assembly reconfiguration, show be exploited accelerate particular shape, as compared static self-assembly.We then demonstrate ability different systems self-reconfigure in fluid.The second implementation is composed technologies could scaled down achieve at microscale.