Structure synthesis on-the-fly in a modular robot

  title={Structure synthesis on-the-fly in a modular robot},
  author={Shai Revzen and Mohit Bhoite and Antonio Macasieb and Mark H. Yim},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  • S. Revzen, Mohit Bhoite, Mark H. Yim
  • Published 5 December 2011
  • Computer Science, Materials Science
  • 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
We describe a mobile modular robot system that can generate foam to make structural elements. The mobile platform itself is built of CKBot modules and carries extra modules along with a foam generation device. We demonstrate the system synthesizing new robot morphologies: a snake-like robot and a legged robot. We also use the foam structures to encapsulate and pick-up objects and to modify the environment by blocking a door. Our presentation describes the issues that arose in implementing and… 

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