Scalable modular self-reconfigurable robots using external actuation

Abstract

This paper presents a method for scaling down the size and scaling up the number of modules of self- re configurable systems by focusing on the actuation mechanism. Rather than developing smaller actuators, the main actuator is removed entirely. Energy instead comes from the environment to provide motion in prescribed synchronous ways. Prescribed synchronous motions allow much faster assembly times than random Brownian motion which has been used before. An instantiation of this idea is presented using a motion platform to induce motions based on the inertial properties of the modules and the timed actuation of small latching mechanisms.