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Daniela Rus. Haller, Kristina M. (Kristina Marie) Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2009-06-30T16:24:46Z 2009-06-30T16:24:46Z 2008 2008 http://hdl.handle.net/1721.1/45842 319619196 Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008. Includes bibliographical references (leaves 15-16). In this paper, we present a modular robot design inspired by the creation of complex structures and functions in biology via deformation. Our design is based on the Tensegrity model of cellular structure, where active filaments within the cell contract and expand to control individual cell shape, and sheets of such cells undergo large-scale shape change through the cooperative action of connected cells. Such deformations play a role in many processes: early embryo shape change, heart and intestine function, and in lamprey locomotion. Modular robotic systems that replicate the basic deformable multicellular structure have the potential to quickly generate large-scale shape change and create time-varying shapes to achieve different global functions. We present a design and initial hardware implementation of this model. Our design includes four different modular components: (1) actuating links, (2) passive (compressive) links, (3) elastic surface membranes, and (4) universal connecting interfaces. In both hardware implementation and simulation, we show several self-deformable structures that can be generated from these four components, including the deformable surface, expandable cube, terrain-adaptive bridge from [1] and some examples inspired by biology. We argue that self-deformation is more appropriate for dynamic and sensing-adaptive shape change in a certain class of tasks. by Kristina M. Haller. S.B. 16 leaves eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Morpho : a self-deformable modular robot inspired by cellular structure Self-deformable modular robot inspired by cellular structure Thesis application/pdf Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="40281011-be10-4acf-a424-ba5e59b2ec66"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Morpho : a self-deformable modular robot inspired by cellular structure</Title> <Subtitle>Self-deformable modular robot inspired by cellular structure</Subtitle> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2008</PublicationDate> <Authors> <Author> <DisplayName>Haller, Kristina M. (Kristina Marie)</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <Abstract>In this paper, we present a modular robot design inspired by the creation of complex structures and functions in biology via deformation. Our design is based on the Tensegrity model of cellular structure, where active filaments within the cell contract and expand to control individual cell shape, and sheets of such cells undergo large-scale shape change through the cooperative action of connected cells. Such deformations play a role in many processes: early embryo shape change, heart and intestine function, and in lamprey locomotion. Modular robotic systems that replicate the basic deformable multicellular structure have the potential to quickly generate large-scale shape change and create time-varying shapes to achieve different global functions. We present a design and initial hardware implementation of this model. Our design includes four different modular components: (1) actuating links, (2) passive (compressive) links, (3) elastic surface membranes, and (4) universal connecting interfaces. In both hardware implementation and simulation, we show several self-deformable structures that can be generated from these four components, including the deformable surface, expandable cube, terrain-adaptive bridge from [1] and some examples inspired by biology. We argue that self-deformation is more appropriate for dynamic and sensing-adaptive shape change in a certain class of tasks.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>