Distributed systems of self-reconfiguring robots

摘要

A robot designed for a single purpose can perform a specific task very well, but it may perform poorly on a different task, or in a different environment. This is acceptable if the environment is structured; however, if the task is in an unknown environment, then a robot with the ability to change shape to suit the environment and the required functionality will be more likely to succeed. We wish to create more versatile robots by using self-reconfiguration: hundreds of small modules will autonomously organize and reorganize as geometric structures to best fit the terrain on which the robot has to move, the shape of the object the robot has to manipulate, or the sensing needs for the given task. For example, a robot could synthesize a snake shape to travel through a narrow tunnel, and then morph into a six-legged insect to navigate on rough terrain upon exit.