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dc.contributor.authorKnaian, Ara N.
dc.contributor.authorLobovsky, Maxim B.
dc.contributor.authorOines, Asa J.
dc.contributor.authorSchmidt-Neilsen, Peter
dc.contributor.authorCheung, Kenneth Chun-Wai
dc.contributor.authorGershenfeld, Neil
dc.date.accessioned2014-12-10T20:38:10Z
dc.date.available2014-12-10T20:38:10Z
dc.date.issued2012-10
dc.identifier.isbn978-1-4673-1736-8
dc.identifier.isbn978-1-4673-1737-5
dc.identifier.isbn978-1-4673-1735-1
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/1721.1/92264
dc.description.abstractThe Milli-Motein (Millimeter-Scale Motorized Protein) is ca chain of programmable matter with a 1 cm pitch. It can fold itself into digitized approximations of arbitrary three-dimensional shapes. The small size of the Milli-Motein segments is enabled by the use of our new electropermanent wobble stepper motors, described in this paper, and by a highly integrated electronic and mechanical design. The chain is an interlocked series of connected motor rotors and stators, wrapped with a continuous flex circuit to provide communications, control, and power transmission capabilities. The Milli-Motein uses off-the-shelf electronic components and fasteners, and custom parts fabricated by conventional and electric discharge machining, assembled with screws, glue, and solder using tweezers under a microscope. We perform shape reconfiguration experiments using a four-segment Milli-Motein. It can switch from a straight line to a prescribed shape in 5 seconds, consuming 2.6 W power during reconfiguration. It can hold its shape indefinitely without power. During reconfiguration, a segment can lift the weight of one but not two segments as a horizontal cantilever.en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency. Programmable Matter Programen_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency. Maximum Mobility and Manipulation (M3) Programen_US
dc.description.sponsorshipUnited States. Army Research Office (Grant W911NF-08-1-0254)en_US
dc.description.sponsorshipUnited States. Army Research Office (Grant W911NF-11-1-0096)en_US
dc.description.sponsorshipMassachusetts Institute of Technology. Center for Bits and Atomsen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2012.6385904en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleThe Milli-Motein: A self-folding chain of programmable matter with a one centimeter module pitchen_US
dc.typeArticleen_US
dc.identifier.citationKnaian, Ara N., Kenneth C. Cheung, Maxim B. Lobovsky, Asa J. Oines, Peter Schmidt-Neilsen, and Neil A. Gershenfeld. “The Milli-Motein: A Self-Folding Chain of Programmable Matter with a One Centimeter Module Pitch.” 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (October 2012).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Center for Bits and Atomsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Media Laboratoryen_US
dc.contributor.departmentProgram in Media Arts and Sciences (Massachusetts Institute of Technology)en_US
dc.contributor.mitauthorKnaian, Ara N.en_US
dc.contributor.mitauthorCheung, Kenneth Chun-Waien_US
dc.contributor.mitauthorOines, Asa J.en_US
dc.contributor.mitauthorGershenfeld, Neilen_US
dc.contributor.mitauthorLobovsky, Maxim B.en_US
dc.contributor.mitauthorSchmidt-Neilsen, Peteren_US
dc.relation.journalIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference onen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsKnaian, Ara N.; Cheung, Kenneth C.; Lobovsky, Maxim B.; Oines, Asa J.; Schmidt-Neilsen, Peter; Gershenfeld, Neil A.en_US
dc.identifier.orcidhttps://orcid.org/0000-0003-2387-8011
dc.identifier.orcidhttps://orcid.org/0000-0001-8470-5777
dc.identifier.orcidhttps://orcid.org/0000-0001-7336-6503
mit.licenseOPEN_ACCESS_POLICYen_US


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