Object transport by modular robots that self-assemble

We present a first attempt to accomplish a simple object manipulation task using the self-reconfigurable robotic system swarm-bot. The number of modular entities involved, their global shape or size and their internal structure are not pre-determined, but result from a self-organized process in whic...

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Bibliographic Details
Main Authors: Gross, R., Tuci, E., Dorigo, M., Bonani, M., Mondada, F.
Format: Conference Proceeding
Language:English
Subjects:
Concrete
Foot
Leg
Legged locomotion
Mobile robots
Robotic assembly
Robotics and automation
Robustness
Self-assembly
Shape
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Description
Summary:We present a first attempt to accomplish a simple object manipulation task using the self-reconfigurable robotic system swarm-bot. The number of modular entities involved, their global shape or size and their internal structure are not pre-determined, but result from a self-organized process in which the modules autonomously grasp each other and/or an object. The modules are autonomous in perception, control, action, and power. We present quantitative results, obtained with six physical modules, that confirm the utility of self-assembling robots in a concrete task
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2006.1642087