Related papers: A non-cubic space-filling modular robot
With the promise of greater safety and adaptability, modular reconfigurable uncrewed air vehicles have been proposed as unique, versatile platforms holding the potential to replace multiple types of monolithic vehicles at once.…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
This paper contains detailed proofs of our results on the moduli space and the structure of noncommutative 3-spheres. We develop the notion of central quadratic form for quadratic algebras, and a general theory which creates a bridge…
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that…
We propose a new class of space-filling designs called rotated sphere packing designs for computer experiments. The approach starts from the asymptotically optimal positioning of identical balls that covers the unit cube. Properly scaled,…
The hyperbolic dodecahedral space of Weber and Seifert has a natural non-positively curved cubulation obtained by subdividing the dodecahedron into cubes. We show that the hyperbolic dodecahedral space has a 6-sheeted irregular cover with…
We present a novel method to perform numerical integration over curved polyhedra enclosed by high-order parametric surfaces. Such a polyhedron is first decomposed into a set of triangular and/or rectangular pyramids, whose certain faces…
We study a new model of 3-dimensional modular self-reconfigurable robots Rhombic Dodecahedral (RD). By extending results on the 2D analog of this model we characterize the free space requirements for a pivoting move and investigate the…
We describe a family of 4-dimensional hyperbolic orbifolds, constructed by deforming an infinite volume orbifold obtained from the ideal, hyperbolic 24-cell by removing two walls. This family provides an infinite number of infinitesimally…
Carbon is the most important chemical element and the theoretical study of its new allotropes can be of great interest. In this study, regular dodecahedron (dodecahedrane) oligomers (n = 1, 3, 5, 7, 9, 11, 13) by extending the dodecahedrane…
We analyse the moduli space and the structure of noncommutative 3-spheres. We develop the notion of central quadratic form for quadratic algebras, and prove a general algebraic result which considerably refines the classical homomorphism…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Inspired by the quest for shape-shifting structures in a range of applications, we show how to create morphable structural materials using a neutrally stable unit cell as a building block. This unit cell is a self-stressed hinged structure…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
The regular polyhedra have the highest order of 3D symmetries and are exceptionally at- tractive templates for (self)-assembly using minimal types of building blocks, from nano-cages and virus capsids to large scale constructions like glass…
We prove that exactly 6 out of the 29 rational homology 3-spheres tessellated by four or less right-angled hyperbolic dodecahedra are L-spaces. The algorithm used is based on the L-space census provided by Dunfield in arXiv:1904.04628, and…