Self-assembling machine

Satoshi Murata, Haruhisa Kurokawa, Shigeru Kokaji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

275 Citations (Scopus)


The design of a machine which is composed of homogeneous mechanical units is described. We show the design of both hardware and control software of the unit. Each unit can connect with other units and change the connection by itself. In spite of its simple mechanism, a set of these units realizes various mechanical functions. We developed control software of the unit which realizes `self-assembly,' one of the basic functions of this machine. A set of these units can form a given shape of the whole system by themselves. The units exchange information about local geometric relation by communication, and cooperate to form the whole shape through a diffusion-like process. There is no upper level controller to supervise these units, and the software of each unit is completely the same. Three actual units have been built to test the basic movements, and the function of self-assembly has been verified by computer simulation.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages8
Editionpt 1
ISBN (Print)0818653329
Publication statusPublished - 1994 Jan 1
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: 1994 May 81994 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 1
ISSN (Print)1050-4729


OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'Self-assembling machine'. Together they form a unique fingerprint.

Cite this