A robotic module for stochastic fluidic assembly of 3D self-reconfiguring structures

Jonas Neubert, Abraham P Cantwell, Stephane Constantin, Michael Kalontarov, David Erickson, Hod Lipson
2010 2010 IEEE International Conference on Robotics and Automation  
Stochastic self-reconfiguring robots are modular robots that possess the ability to autonomously change the arrangement of their modules and do so through the use of nondeterministic processes. We present a concept for a robotic system in which the stochastic behavior of turbulent flow in a chamber is used during assembly and disassembly operations. The thermorheological properties of Pluronic® are used to implement flow routing for controlling the assembly process. This is the first use of
more » ... he first use of thermorheological valving in three dimensions. A novel reversible module connection mechanism using a low melting point alloy which is soldered in a fluid environment is presented. Together with our approach to selfalignment, these are the innovations required to allow scalable self-directed assembly in three dimensions.
doi:10.1109/robot.2010.5509455 dblp:conf/icra/NeubertCCKEL10 fatcat:yfl65oszdbcxtmx7sj7mglx3jy