We discuss a robotic module called a Molecule. Molecules can be the basis for building self-reconfiguring robots. They support multiple modalities of locomotion and manipulation. We describe the design, functionality, and control of the Molecule. We show how a set of Molecules can aggregate as active three-dimensional structures that can move and change… (More)
Mimicking the adaptability of living biological cells, robot modules will reconfigure themselves toward a common purpose within the limits imposed by the local environment.
We discuss a robotic system composed of Crystalline modules. Crystaline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that… (More)
We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot's actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinated motion. Unlike other methods, our approach can be applied to… (More)
We discuss a physical implementation of the Crystalline robot system. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystalline modules are actuated by expanding and contracting each unit. This actua-tion mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and a… (More)
The recently reported KinectFusion algorithm uses the Kinect and GPU algorithms to simultaneously track the camera and build a dense scene reconstruction in real time. However, it is locked to a fixed volume in space and can not map surfaces that lie outside that volume. We present moving volume KinectFusion with additional algorithms to automatically… (More)
BACKGROUND In coronary artery disease, exercise training (ET) is associated with an improvement in endothelial function, but little is known about the relative effect of different types of training. The purpose of this study was to prospectively evaluate the effect of different types of ET on endothelial function in 209 patients after a first recent acute… (More)
1 Motivation Many large terrestrial structures—towers, bridges, construction scaffolds—are sparse assemblies of rigid bars connected together at structural nodes. This is also true of many in-space structures such as antennae, solar panel supports, and space-station members. A long-term application of truss climbing robots is automated assembly, repair, and… (More)