Mu-cubes: Modular, cube shaped, and self-reconfigurable robots

Zia, Abdul Basit; Ejaz, Syed Osama; Abbas, Shahzaib; Ikram, Usaid; Rehman, Saif ur

doi:10.1109/urtc.2017.8284199

Cited by 3 publications

(2 citation statements)

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“…However, when a configuration involves a large number of modules, encompassing all modules within the lattice becomes a challenge both technically and practically [36]. Examples of MSRs with a lattice architecture are the mu-cube [48], FlexiblE and Reconfigurable Voxel-based Robot (FERVOR) [49], helical magnet modular robot [50], Deformable Self-organizing Nomadic Units (DONUts) [51], and magnetically controlled modular cubes [52]. Among these robots, the materials used to create modules for DONUts [51] are unique; its modules are made from communicative, flexible printed circuit boards embedded with electrical and electropermanent magnets.…”

Section: Functional Modulesmentioning

confidence: 99%

Modular Self-Configurable Robots—The State of the Art

Vu,

Bi,

Mueller

et al. 2023

Actuators

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Modular self-configurable robot (MSR) systems have been investigated for decades, and their applications have been widely explored to meet emerging automation needs in various applications, such as space exploration, manufacturing, defense, medical industry, entertainment, and services. This paper aims to gain a deep understanding of up-to-date research and development on MSR through a thorough survey of market demands and published works on design methodologies, system integration, advanced controls, and new applications. In particular, the limitations of existing mobile MSR are discussed from the reconfigurability perspective of mechanical structures.

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Section: Functional Modulesmentioning

confidence: 99%

Modular Self-Configurable Robots—The State of the Art

Vu,

Bi,

Mueller

et al. 2023

Actuators

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“…Modular robotic systems attempt to tackle this challenge through a large number of modular units that attach and detach from one another and move around to form different shapes. A variety of motion models (e.g., sliding [3], [4], crystalline [5], [6], pivoting [7], [8], [9], [10], and hybrid multi-degree-offreedom [11], [12]), connection strategies (e.g., active latching [13], passive mechanical latching [14], magnetic [15]), and module geometries (cubic [8], hexagonal [16], spherical [13]) exist for these systems.…”

Section: Introductionmentioning

confidence: 99%

Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots

Feshbach

Sung

2021

IEEE Robot. Autom. Lett.

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We present an algorithm for self-reconfiguration of admissible 3D configurations of pivoting modular cube robots with holes of arbitrary shape and number. Cube modules move across the surface of configurations by pivoting about shared edges, enabling configurations to reshape themselves. Previous work provides a reconfiguration algorithm for admissible 3D configurations containing no non-convex holes; we improve upon this by handling arbitrary admissible 3D configurations. The key insight specifies a point in the deconstruction of layers enclosing non-convex holes at which we can pause and move inner modules out of the hole. We prove this happens early enough to maintain connectivity, but late enough to open enough room in the enclosing layer for modules to escape the hole. Our algorithm gives reconfiguration plans with O n 2 moves for n modules.

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