What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots
Our goal is to develop an automated digital fabrication process that can make any object out of smart materials. In this paper, we present an algorithm for creating shapes by the process of duplication, using modules we have termed smart sand. The object to be duplicated is dipped into a bag of smar...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
MIT Press
2020
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| Online Access: | https://hdl.handle.net/1721.1/128884 |
| _version_ | 1826205035546017792 |
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| author | Gilpin, Kyle W 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 Gilpin, Kyle W Rus, Daniela L |
| author_sort | Gilpin, Kyle W |
| collection | MIT |
| description | Our goal is to develop an automated digital fabrication process that can make any object out of smart materials. In this paper, we present an algorithm for creating shapes by the process of duplication, using modules we have termed smart sand. The object to be duplicated is dipped into a bag of smart sand; the particles exchange messages to sense the object's shape; and then the particles selectively form mechanical bonds with their neighbors to form a duplicate of the original. Our algorithm is capable of duplicating convex and concave 3D objects in a completely distributed manner. It uses O(1) storage space and O(n) inter-module messages per module. We perform close to 500 experiments using a realistic simulator with over 1400 modules. These experiments confirm the functionality and messaging demands of our distributed duplication algorithm while demonstrating that the algorithm can be used to form interesting and useful shapes. |
| first_indexed | 2024-09-23T13:06:02Z |
| format | Article |
| id | mit-1721.1/128884 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:06:02Z |
| publishDate | 2020 |
| publisher | MIT Press |
| record_format | dspace |
| spelling | mit-1721.1/1288842022-10-01T13:02:07Z What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots Gilpin, Kyle W Rus, Daniela L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory MIT Schwarzmann College of Computing Our goal is to develop an automated digital fabrication process that can make any object out of smart materials. In this paper, we present an algorithm for creating shapes by the process of duplication, using modules we have termed smart sand. The object to be duplicated is dipped into a bag of smart sand; the particles exchange messages to sense the object's shape; and then the particles selectively form mechanical bonds with their neighbors to form a duplicate of the original. Our algorithm is capable of duplicating convex and concave 3D objects in a completely distributed manner. It uses O(1) storage space and O(n) inter-module messages per module. We perform close to 500 experiments using a realistic simulator with over 1400 modules. These experiments confirm the functionality and messaging demands of our distributed duplication algorithm while demonstrating that the algorithm can be used to form interesting and useful shapes. US Army Research Office (Grant W911NF-08-1-0228) NSF (Grants 0735953 and 1138967) 2020-12-21T21:33:43Z 2020-12-21T21:33:43Z 2013 2012 2019-07-16T17:07:54Z Article http://purl.org/eprint/type/ConferencePaper 9780262519687 https://hdl.handle.net/1721.1/128884 Gilpin, Kyle W. and Daniela Rus. "What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots." Robotics: Science and Systems VIII, edited by Nicholas Roy, Paul Newman and Siddhartha Srinivasa, 2013, 89-96. © 2013 Massachusetts Institute of Technology en https://ieeexplore.ieee.org/document/6578001 Robotics: Science and Systems VIII Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf MIT Press Other repository |
| spellingShingle | Gilpin, Kyle W Rus, Daniela L What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots |
| title | What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots |
| title_full | What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots |
| title_fullStr | What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots |
| title_full_unstemmed | What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots |
| title_short | What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots |
| title_sort | what s in the bag a distributed approach to 3d shape duplication with modular robots |
| url | https://hdl.handle.net/1721.1/128884 |
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