A 3-D self-reconfigurable structure

S. Murata, H. Kurokawa, E. Yoshida, K. Tomita, S. Kokaji

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

204 Citations (Scopus)


A three-dimensional, self-reconfigurable structure is proposed. The structure is a fully distributed system composed of many identical 3-0 units. Each unit has functions of changing local connection, information processing, and communication among neighborhood units. Groups of units cooperate to change their connection so that the shape of the whole solid structure transforms into arbitrary shape. Also, the structure can repair itself by rejecting faulty units, replacing them with spare units. This kind of self-maintainability is essential to structure's longevity in hazardous or remote environments such as space or deep sea, where human operators cannot approach. We have designed and built a prototype unit to examine the feasibility of the 3-0 self-recon$gurable concept. The design of the unit, method of reconfiguration, hardware implementation, and results of preliminary experiments are shown. In the last part of this paper, distributed software for self-reconfiguration is discussed.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)078034300X
Publication statusPublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998


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