Physical Computing

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Earthworm

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“A Complete, Local and Parallel Reconfiguration Algorithm for Cube Style Modular Robots “, S. Vassilvitskii, J. Suh, M. Yim, accepted to 2002 IEEE Intl. Conf. on Robotics and Automation (ICRA)
Abstract
We discuss the theoretical limitations for reconfiguration of the Telecube, a cube shaped metamorphic robot. These robots are currently being developed at Xerox PARC and have 6 degrees of freedom. We show that by using meta-modules composed of 8 individual modules as a backbone for building the desired shape, we can establish completeness for the reconfiguration as well as time and space bounds for the process. Finally we present several open problems in the field of reconfiguration.