M-blocks: Momentum-driven, magnetic modular robots
In this paper, we describe a novel self-assembling, self-reconfiguring cubic robot that uses pivoting motions to change its intended geometry. Each individual module can pivot to move linearly on a substrate of stationary modules. The modules can use the same operation to perform convex and concave...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/124967 |
| _version_ | 1826197511191134208 |
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| author | Romanishin, John W. Gilpin, Kyle Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Romanishin, John W. Gilpin, Kyle Rus, Daniela L. |
| author_sort | Romanishin, John W. |
| collection | MIT |
| description | In this paper, we describe a novel self-assembling, self-reconfiguring cubic robot that uses pivoting motions to change its intended geometry. Each individual module can pivot to move linearly on a substrate of stationary modules. The modules can use the same operation to perform convex and concave transitions to change planes. Each module can also move independently to traverse planar unstructured environments. The modules achieve these movements by quickly transferring angular momentum accumulated in a self-contained flywheel to the body of the robot. The system provides a simplified realization of the modular actions required by the sliding cube model using pivoting. We describe the principles, the unit-module hardware, and extensive experiments with a system of eight modules. Keywords: Actuators; Robots; Lattices; Hardware; Torque; Belts; Fasteners |
| first_indexed | 2024-09-23T10:48:47Z |
| format | Article |
| id | mit-1721.1/124967 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:48:47Z |
| publishDate | 2020 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1249672022-09-27T15:11:39Z M-blocks: Momentum-driven, magnetic modular robots Romanishin, John W. Gilpin, Kyle Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory In this paper, we describe a novel self-assembling, self-reconfiguring cubic robot that uses pivoting motions to change its intended geometry. Each individual module can pivot to move linearly on a substrate of stationary modules. The modules can use the same operation to perform convex and concave transitions to change planes. Each module can also move independently to traverse planar unstructured environments. The modules achieve these movements by quickly transferring angular momentum accumulated in a self-contained flywheel to the body of the robot. The system provides a simplified realization of the modular actions required by the sliding cube model using pivoting. We describe the principles, the unit-module hardware, and extensive experiments with a system of eight modules. Keywords: Actuators; Robots; Lattices; Hardware; Torque; Belts; Fasteners National Science Foundation (U.S.) (Grant 1240383) National Science Foundation (U.S.) (Grant 1138967) 2020-05-01T12:51:21Z 2020-05-01T12:51:21Z 2014-01 2019-07-17T11:55:55Z Article http://purl.org/eprint/type/ConferencePaper 9781467363587 9781467363570 https://hdl.handle.net/1721.1/124967 Romanishin, John W., Gilpin, Kyle and Rus, Daniela. "M-blocks: Momentum-driven, magnetic modular robots." 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 2013, Tokyo, Japan, Institute of Electrical and Electronics Engineers (IEEE), 2014 en http://dx.doi.org/10.1109/iros.2013.6696971 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Romanishin, John W. Gilpin, Kyle Rus, Daniela L. M-blocks: Momentum-driven, magnetic modular robots |
| title | M-blocks: Momentum-driven, magnetic modular robots |
| title_full | M-blocks: Momentum-driven, magnetic modular robots |
| title_fullStr | M-blocks: Momentum-driven, magnetic modular robots |
| title_full_unstemmed | M-blocks: Momentum-driven, magnetic modular robots |
| title_short | M-blocks: Momentum-driven, magnetic modular robots |
| title_sort | m blocks momentum driven magnetic modular robots |
| url | https://hdl.handle.net/1721.1/124967 |
| work_keys_str_mv | AT romanishinjohnw mblocksmomentumdrivenmagneticmodularrobots AT gilpinkyle mblocksmomentumdrivenmagneticmodularrobots AT rusdanielal mblocksmomentumdrivenmagneticmodularrobots |