M-blocks: Momentum-driven, magnetic modular robots

Abstract

In this paper, we describe a novel self-assembling, self-reconfiguring cubic robot that uses pivoting motions to change its intended geometry. Each individual module can pivot to move linearly on a substrate of stationary modules. The modules can use the same operation to perform convex and concave transitions to change planes. Each module can also move independently to traverse planar unstructured environments. The modules achieve these movements by quickly transferring angular momentum accumulated in a self-contained flywheel to the body of the robot. The system provides a simplified realization of the modular actions required by the sliding cube model using pivoting. We describe the principles, the unitmodule hardware, and extensive experiments with a system of eight modules.

Opportunities and Challenges for Data Physicalization

“…Alternatively, continuous shape deformation can be achieved through, e.g., pneumatic or hydraulic actuation [17,78], or shape-memory alloys [58]. Microrobotics can also be used to position multiple physical objects on a 2D plane [21,45,57], while free 3D positioning through levitation is currently being researched [39,61]. Physical geometry encoding can be complemented with color encoding through the use of deformable visual displays [47,65], sets of actuated visual displays [1], or projection mapping [5].…”

Kinetic Blocks

“…Modular robots use motorized hinges or internal flywheels [23] to selfarrange spatially into their target shape. At present, however, the complexity, speed, and power requirements of modular robots prohibit their use as building blocks for an actuated construction kit.…”

“…In most programmable matter research, the building blocks are self contained units that can actuate themselves to the their target position [23], whereas our approach uses outside actuation to transport the blocks. This allows the building blocks to be simple, cheap, and robust and allows a user to directly manipulate the building blocks without the fear of breaking them.…”

“…Using active blocks in combination with the shape display opens another interesting realm. Active blocks could provide electromagnetic connections [23]. The shape display's pins could have conductive connectors providing external electrical power to the blocks.…”

The Kinematics Analysis of a Novel Self-Reconfigurable Modular Robot Based on Screw Theory

“…They can be classified into two kinds. One of them have a very good metamorphism and reconfiguration performance with the help of the other modules, such as M-TRAIN [5] , PolyBot [6] , Conro [7] , Roombot [8] , Superbot [9] , M-Blocks [10] . M-cube [11] etc.…”