Miche: Modular Shape Formation by Self-Disassembly

Abstract

Abstract-We describe the design, implementation, and programming of a set of robots that, starting from an amorphous arrangement, can be assembled into arbitrary shapes and then commanded to self-disassemble in an organized manner, to obtain a goal shape. We present custom hardware, distributed algorithms, and experimental results from hundreds of trails which show the system successfully forming complex threedimensional shapes. Each of the 28 modules in the system is implemented as a 1.8-inch autonomous cube-shaped robot able to connect to and communicate with its immediate neighbors. Embedded microprocessors control each module's magnetic connection mechanisms and infrared communication interfaces. When assembled into a structure, the modules form a system that can be virtually sculpted using a computer interface and a distributed process. The group of modules collectively decide who is on the final shape and who is not using algorithms that minimize information transmission and storage. Finally, the modules not in the structure disengage their magnetic couplings and fall away under the influence of an external force, in this case, gravity.

Making self-disassembling objects with multiple components in the Robot Pebbles system

“…In our system, generating a description of the goal shape is facilitated by a GUI that allows the user to virtually sculpt the desired shape and then generates a list of inclusion messages that are transmitted to the root and distributed. In [18] we show that this approach is efficient and correct. While the prior proof did not incorporate the concept of ignored modules, their effect is minimal, and we will not repeat the proof here.…”

“…A limited amount of past research has focused specifically on the algorithms employed in self-disassembling systems [16], [18], [19]. The work presented here builds on our previous work in [1], [20] on the Robot Pebbles hardware and algorithms.…”

“…Once all modules know whether they are included in the final structure, disconnection commences and all unnecessary bonds between neighboring modules are broken in order to arrive at the desired set of goal shapes. For more information on this process, consult [18], [20] III. MULTIPLE SHAPES In this section we present an algorithm that controls and optimizes the formation of multiple shapes by sculpting an initial block of connected material.…”

“…MULTIPLE SHAPES In this section we present an algorithm that controls and optimizes the formation of multiple shapes by sculpting an initial block of connected material. While prior work [18] has shown that self-disassembly can form a particular shape from an initial block of material, the previous algorithm was only able to form a single shape during each iteration of the self-disassembly process, and the resulting shape had to include a unique root module. The new algorithm removes these restrictions.…”

Space–time programming

“…[2,3]), or by considering only quantized actions in quantized spaces (e.g. cellular automata such as [4] or [5], modular robotics such as [6] or [7], or parallel computing such as with StarLisp [8]). …”