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• A robotic module for stochastic fluidic assembly of 3D self-reconfiguring structures

  Authors: J. Neubert, A.P. Cantwell, S. Constantin, M. Kalontarov, D. Erickson, H. Lipson

  IEEE International Conference on Robotics and Automation (ICRA);

  Stochastic self-reconfiguring robots are modular robots that possess the ability to autonomously change the arrangement of their modules and do so through the use of non-deterministic processes. WeStochastic self-reconfiguring robots are modular robots that possess the ability to autonomously change the arrangement of their modules and do so through the use of non-deterministic processes. We present a concept for a robotic system in which the stochastic behavior of turbulent flow in a chamber is used during assembly and disassembly operations. The thermorheological properties of Pluronic® are used to implement flow routing for controlling the assembly process. This is the first use of thermorheological valving in three dimensions. A novel reversible module connection mechanism using a low melting point alloy which is soldered in a fluid environment is presented. Together with our approach to self-alignment, these are the innovations required to allow scalable self-directed assembly in three dimensions.

• Tetrabot: Resonance based locomotion for harsh enviroments

  Authors: J. Neubert, J. Stockton, B. Blechman, H. Lipson

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);

  We describe a robotic architecture that combines the benefits of existing enclosed robots with passive dynamics. This combination results in a mobile robot with no moving parts exposed to theWe describe a robotic architecture that combines the benefits of existing enclosed robots with passive dynamics. This combination results in a mobile robot with no moving parts exposed to the environment, making it ideal for tasks where wheeled or legged robots fail. Instead of suppressing resonance, the new robot morphology relies on the dynamics of resonance for locomotion. Actuators mounted on a central sphere excite a natural mode of vibration by pulling on strings through which the sphere is mounted to a tetrahedral frame. A simple open loop controller is sufficient to cause directed motion by hopping and sliding in a prototype. Rolling as a further gait is investigated theoretically. Fully enclosed resonant dynamic robots could lead to a new type of robot locomotion powered from a vibration source only. This is useful in the microscale where traditional actuators are not available, and at the macroscale where the robot's high ruggedness is favorable.