A modular robot that self-assembles

Akio Ishiguro, Hiroaki Matsuba, Tomoki Maegawa, Masahiro Shimizu

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

1 Citation (Scopus)


One of the most graceful phenomena widely observed in nature is self-assembly; living systems spontaneously form their body structure through the developmental process. While this remarkable phenomenon still leaves much to be understood in biology, the concept of self-assembly becomes undeniably indispensable also in artificial systems as they increase in size and complexity. Based on this consideration, this paper discusses the realization of self-assembly with the use of a modular robot. The main contributions of this paper are twofold: the first concerns the exploitation of emergent phenomena stemming from the interplay between the control and mechanical systems; the second is related to the implementation of different adhesiveness among the modules. Here, form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Preliminary simulation results show that stable and spontaneous self-assembly is achieved irrespective of the initial positional relationship among the modules.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 9, IAS 2006
Number of pages10
Publication statusPublished - 2006
Event9th International Conference on Intelligent Autonomous Systems, IAS 2006 - Tokyo, Japan
Duration: 2006 Mar 72006 Mar 9

Publication series

NameIntelligent Autonomous Systems 9, IAS 2006


Conference9th International Conference on Intelligent Autonomous Systems, IAS 2006


  • Emergent phenomena
  • Fully decentralized control
  • Modular robot
  • Morphological computation
  • Self-assembly and self-repair


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