Abstract
A three-dimensional (3D) self-reconfigurable system made of identical units is proposed. Each unit has six arms on the surface of its base cube which can connect to neighboring units mechanically. By the connection, a cubic-lattice structure is formed. A unit can carry its neighborunit from one node of the lattice to another by rotating its arm by 90°. Repeating this movement, the structure can reconfigure itself to realize various 3D structures. The general process of reconfiguration was proposed for this system. A prototype system including six units was madeand basic motions of self- reconfiguration were verified.
| Original language | English |
|---|---|
| Pages (from-to) | 591-602 |
| Number of pages | 12 |
| Journal | Advanced Robotics |
| Volume | 13 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 1998 Jan 1 |
Keywords
- Distributed autonomous system
- Modular robot
- Modular structure