相关论文: A non-cubic space-filling modular robot

With the advance in robotic hardware and intelligent software, humanoid robot plays an important role in various tasks including service for human assistance and heavy job for hazardous industry. Recent advances in task learning enable…

In the design and analysis of composite materials based on periodic arrangements of sub-units it is of paramount importance to control the emergent material symmetry in relation to the elastic response. The target material symmetry plays…

Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…

Multi-cellular robot design aims to create robots comprised of numerous cells that can be efficiently controlled to perform diverse tasks. Previous research has demonstrated the ability to generate robots for various tasks, but these…

Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known.…

We study $\alpha$-cluster structure based on the geometric configurations with a microscopic framework, which takes full account of the Pauli principle, and which also employs an effective inter-nucleon force including finite-range…

We construct a sphere-homeomorphic flexible self-intersection free polyhedron in Euclidean 3-space such that all its dihedral angles change during some flex of this polyhedron. The constructed polyhedron has 26 vertices, 72 edges and 48…

Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…

Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…

Cylindrical Algebraic Decompositions (CADs) endowed with additional topological properties have found applications beyond their original logical setting, including algorithmic optimizations in CAD construction, robot motion planning, and…

This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…

Materials with the ability to self-classify their own shape have the potential to advance a wide range of engineering applications and industries. Biological systems possess the ability not only to self-reconfigure but also to self-classify…

This paper presents a rotation-invariant embedded platform for simulating (neural) cellular automata (NCA) in modular robotic systems. Inspired by previous work on physical NCA, we introduce key innovations that overcome limitations in…

We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…

This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…

Results are given from a search to form adinkra-like equations based on topologies that are not hypercubes. An alternate class of zonohedra topologies are used to construct adinkra-like graphs. In particular, the rhombic dodecahedron and…

Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…

This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…

The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…

A topological interlocking assembly consists of rigid blocks together with a fixed frame, such that any subset of blocks is kinematically constrained and therefore cannot be removed from the assembly. In this paper we pursue a modular…