Research:
Stochastic Modular Robotics
Research:
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Current implementations of self-reconfigurable robotics rearrange modules through a planned, deterministic reconfiguration path. Reconfiguration is achieved using active module locomotion or manipulation. Here we propose a form of self-reconfigurable robotics based on passive, stochastic self-organization. Solid-state cellular units exploit ‘Brownian motion’ in their environment and require no local power or locomotion ability. This form of reconfiguration avoids many of the barriers that prevent self-reconfigurable robotics from extending to large numbers and small scales. We demonstrate working prototypes and discuss preliminary analytical and computational models for analyzing the scalability of this concept.
Publications
White P., Zykov V., Bongard J., Lipson H. (2005) Three Dimensional Stochastic Reconfiguration of Modular Robots, Proceedings of Robotics Science and Systems, MIT, Cambridge MA, June 8-10, 2005 (Preprint draft)
White P. J., Kopanski K., Lipson H. (2004), “Stochastic Self-Reconfigurable Cellular Robotics”, IEEE International Conference on Robotics and Automation (ICRA04)