Towards a Passive Self-Assembling Macroscale Multi-Robot System

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21110%2F21%3A00351395" target="_blank" >RIV/68407700:21110/21:00351395 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/21:00351395

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2021.3096748" target="_blank" >https://doi.org/10.1109/LRA.2021.3096748</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2021.3096748" target="_blank" >10.1109/LRA.2021.3096748</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Towards a Passive Self-Assembling Macroscale Multi-Robot System

Popis výsledku v původním jazyce

The combined efforts of theoretical computer science, biochemistry, and nanotechnology have enabled the design of tile-based systems capable of self-assembling intricate patterns in a massively parallel manner, with low error rates, and applications ranging from DNA computing to microelectronics. However, as the underlying physical and chemical principles do not directly translate from micro to the macroscale, the transition to centimeter-scale systems remains challenging. In this contribution, we propose a framework for designing macroscale passive robots (tiles) capable of targeted self-assembly under uncontrolled external mechanical excitation. Self-assembly at this scale is achieved by using properly designed magneto-mechanical locks (glues) to accomplish jamming-free assembly, a dedicated encoding of glues to guide tile interactions, and consistent formalization of geometrical constraints that ensure the valid assembly. The potential of our framework is demonstrated by the errorless assembly of a chessboard pattern, thereby showing its robustness, three-fold increase in error recovery, and two-fold increase in growth rate, when compared to a fully magnetic approach.

Název v anglickém jazyce

Towards a Passive Self-Assembling Macroscale Multi-Robot System

Popis výsledku anglicky

The combined efforts of theoretical computer science, biochemistry, and nanotechnology have enabled the design of tile-based systems capable of self-assembling intricate patterns in a massively parallel manner, with low error rates, and applications ranging from DNA computing to microelectronics. However, as the underlying physical and chemical principles do not directly translate from micro to the macroscale, the transition to centimeter-scale systems remains challenging. In this contribution, we propose a framework for designing macroscale passive robots (tiles) capable of targeted self-assembly under uncontrolled external mechanical excitation. Self-assembly at this scale is achieved by using properly designed magneto-mechanical locks (glues) to accomplish jamming-free assembly, a dedicated encoding of glues to guide tile interactions, and consistent formalization of geometrical constraints that ensure the valid assembly. The potential of our framework is demonstrated by the errorless assembly of a chessboard pattern, thereby showing its robustness, three-fold increase in error recovery, and two-fold increase in growth rate, when compared to a fully magnetic approach.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GX19-26143X" target="_blank" >GX19-26143X: Neperiodické materiály vykazující strukturované deformace: Modulární návrh a výroba</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

6

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

7293-7300

Kód UT WoS článku

000679531600015

EID výsledku v databázi Scopus

2-s2.0-85110884235