Purely Semismall Compressible Modules

Self-Reconfiguration Planning with Compressible Unit Modules

We discuss a robotic system composed of Crystalline modules. Crystaline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that enable a crystalline robot system to s...

Crystalline Robots: Self-re on guration with Compressible Unit Modules

Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules

Distributed motion planning for modular robots with unit-compressible modules

The ability of self-reconfigurable robots to solve a variety of robot tasks comes in part from their use of a large number of modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm was developed fo...

A Two -Step Modification toward Implementing Compressible Source Terms in Low Compressible Flows