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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 momentumdoi:10.1109/iros.2013.6696971 dblp:conf/iros/RomanishinGR13 fatcat:dh32l5sxmreajo5fru2mls5g3i