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The International Journal of Robotics Research
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Miche: Modular Shape Formation by Self-Disassembly

Kyle Gilpin

MIT Computer Science and Artificial Intelligence Lab 32 Vassar St Room 32-376 Cambridge, MA 02139, USA, kwgilpin{at}mit.edu

Keith Kotay

MIT Computer Science and Artificial Intelligence Lab 32 Vassar St Room 32-376 Cambridge, MA 02139, USA

Daniela Rus

MIT Computer Science and Artificial Intelligence Lab 32 Vassar St Room 32-376 Cambridge, MA 02139, USA

Iuliu Vasilescu

MIT Computer Science and Artificial Intelligence Lab 32 Vassar St Room 32-376 Cambridge, MA 02139, USA

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 3D 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 decides which elements are a part of the final shape and which are 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.

Key Words: cellular and modular robots • reconfigurable robots • distributed robot systems • self-disassembly • programmable matter • localization

The International Journal of Robotics Research, Vol. 27, No. 3-4, 345-372 (2008)
DOI: 10.1177/0278364907085557
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 The International Journal of Robotics ResearchHome page
S. Funiak, P. Pillai, M. P. Ashley-Rollman, J. D. Campbell, and S. C. Goldstein
Distributed Localization of Modular Robot Ensembles
The International Journal of Robotics Research, August 1, 2009; 28(8): 946 - 961.
[Abstract] [PDF]