FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks

Petras Swissler; Michael Rubenstein

doi:10.1109/LRA.2023.3290796

FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks

Petras Swissler, Michael Rubenstein

Mechanical and Industrial Engr

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

FireAntV3 uses a refined version of the 3D Continuous Docks to attach to other such docks at any location at any orientation with simple control and without alignment. The robot improves upon previous FireAnt-series robots by redesigning the locomotion drive system to improve mechanical and attachment reliability while also reducing the number of motors from six to three. We also expand the sensory capabilities of FireAntV3 to enable the robot to sense forces, sense the direction to a light source, and to sense contacting neighbors using vibrations. We validate this robot through full-robot tests demonstrating phototaxis and neighbor-detecting behavior. This letter also describes the method for manufacturing the continuous docks in a variety of geometries.

Original language	English (US)
Pages (from-to)	4911-4918
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	8
DOIs	https://doi.org/10.1109/LRA.2023.3290796
State	Published - Aug 1 2023

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

Keywords

Cellular and modular robots
mechanism design
swarm robotics

Access to Document

10.1109/LRA.2023.3290796

Cite this

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title = "FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks",

abstract = "FireAntV3 uses a refined version of the 3D Continuous Docks to attach to other such docks at any location at any orientation with simple control and without alignment. The robot improves upon previous FireAnt-series robots by redesigning the locomotion drive system to improve mechanical and attachment reliability while also reducing the number of motors from six to three. We also expand the sensory capabilities of FireAntV3 to enable the robot to sense forces, sense the direction to a light source, and to sense contacting neighbors using vibrations. We validate this robot through full-robot tests demonstrating phototaxis and neighbor-detecting behavior. This letter also describes the method for manufacturing the continuous docks in a variety of geometries.",

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FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks

Abstract

All Science Journal Classification (ASJC) codes

Keywords

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