Towards a Scalable, Self-Reconfigurable Robot with Compliant Modules

Abstract

We present a planar, self-reconfigurable modular robot with onboard processing, sensing, communication, and passive components for actuation. Modules consist primarily of a flexible printed circuit board rolled in a loop that is populated with all electronic components and 12 simplified electro-permanent magnets for mobility and communication. The flexible PCB eases assembly and introduces compliance for safe interaction with external objects and other modules, as well as configuration of large scale lattice configurations beyond what the manufacturing tolerances allow. This thrust towards scalable robots composed of passively compliant modules is an important step in addressing the grand challenges of mechanical wear and error tolerance in large-scale collectives.