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Robot pebbles: One centimeter modules for programmable matter through self-disassembly

Author(s)
Knaian, Ara N.; Gilpin, Kyle W; Rus, Daniela L
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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Abstract
This paper describes the design, fabrication, and experimental results of a programmable matter system capable of 2D shape formation through subtraction. The system is composed of autonomous 1cm modules which use custom-designed electropermanent magnets to bond, communicate, and share power with their neighbors. Given an initial block composed of many of these modules latched together in a regular crystalline structure, our system is able to form shapes by detaching the unnecessary modules. Many experiments show that the modules in our system are able to distribute data at 9600bps to their neighbors with a 98.5% success rate after four retries, and the connectors are able to support over 85 times the weight of a single module.
Date issued
2010-05
URI
http://hdl.handle.net/1721.1/70987
Department
Massachusetts Institute of Technology. Center for Bits and Atoms; Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Journal
Proceedings for 2010 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Gilpin, Kyle, Ara Knaian, and Daniela Rus. “Robot Pebbles: One Centimeter Modules for Programmable Matter Through Self-disassembly.” IEEE, 2010. 2485–2492. Web.© 2010 IEEE.
Version: Final published version
Other identifiers
INSPEC Accession Number: 11431212
ISBN
978-1-4244-5040-4
978-1-4244-5038-1
ISSN
1050-4729

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