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dc.contributor.authorGilpin, Kyle W.
dc.contributor.authorKnaian, Ara N.
dc.contributor.authorRus, Daniela L.
dc.date.accessioned2012-06-01T17:44:10Z
dc.date.available2012-06-01T17:44:10Z
dc.date.issued2010-05
dc.identifier.isbn978-1-4244-5040-4
dc.identifier.isbn978-1-4244-5038-1
dc.identifier.issn1050-4729
dc.identifier.otherINSPEC Accession Number: 11431212
dc.identifier.urihttp://hdl.handle.net/1721.1/70987
dc.description.abstractThis 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.en_US
dc.description.sponsorshipUnited States. Army Research Office (grant number W911NF-08-1-0228)en_US
dc.description.sponsorshipUnited States. Army Research Office (grant number W911NF-08-1-0254)en_US
dc.description.sponsorshipMassachusetts Institute of Technology. Center for Bits and Atomsen_US
dc.description.sponsorshipIntel Corporationen_US
dc.description.sponsorshipNational Science Foundation (U.S.) ( EFRI grant)en_US
dc.description.sponsorshipNational Defense Science and Engineering Graduate Fellowshipen_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency (DARPA Programmable Matter program)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ROBOT.2010.5509817en_US
dc.rightsArticle 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.en_US
dc.sourceIEEEen_US
dc.titleRobot pebbles: One centimeter modules for programmable matter through self-disassemblyen_US
dc.typeArticleen_US
dc.identifier.citationGilpin, Kyle, Ara Knaian, and Daniela Rus. “Robot Pebbles: One Centimeter Modules for Programmable Matter Through Self-disassembly.” IEEE, 2010. 2485–2492. Web.© 2010 IEEE.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Center for Bits and Atomsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentProgram in Media Arts and Sciences (Massachusetts Institute of Technology)en_US
dc.contributor.approverRus, Daniela L.
dc.contributor.mitauthorGilpin, Kyle W.
dc.contributor.mitauthorKnaian, Ara N.
dc.contributor.mitauthorRus, Daniela L.
dc.relation.journalProceedings for 2010 IEEE International Conference on Robotics and Automation (ICRA), ICRA 2010en_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
dspace.orderedauthorsGilpin, Kyle; Knaian, Ara; Rus, Danielaen
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
dc.identifier.orcidhttps://orcid.org/0000-0002-9034-2340
dc.identifier.orcidhttps://orcid.org/0000-0001-7336-6503
mit.licensePUBLISHER_POLICYen_US


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