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Blinky Blocks: functional ones (left and right), and two pieces of a dismantled one with a top view of the motherboard (in the middle).

Blinky Blocks: functional ones (left and right), and two pieces of a dismantled one with a top view of the motherboard (in the middle).

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We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is designed to be executed by the modular robot itself and is based on an distributed iterative solution of mechanical equilib...

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... in a simplified manner, by finding the maximum number of Blinky Blocks that their magnets could hold hanging in a vertical alignment. The top/bottom and lateral connection strengths differ because the former is produced by a Legolike system reinforced with a central magnet, and the latter by 4 magnets placed in the corners of each face; see also Fig. ...

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