Programmable Matter with Modular Robots - unina.it · Fixed architecture robot = fixed task set ......
Transcript of Programmable Matter with Modular Robots - unina.it · Fixed architecture robot = fixed task set ......
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Programmable Matterwith Modular Robots
Daniela RusCSAIL, MIT
Z. Butler, P. Corke, C. Detweiler, B. Donald, K. Gilpin, K. Kotay,C. Levey, I. Paprotny, I. Vasilescu, M. Vona, Y. Yoon
Motivation
Fixed architecture robot = fixed task set Flexible architecture robot = versatility
•Multiple locomotion gaits•Multiple manipulation gaits•Self-assembly•Self-repair
How do living cells differentiate? •Synthetic engineering exploration
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Self-reconfiguring Robots
blob
snake
slinky
•Multiple modules•Physically connected•Capable of autonomousstructural change•Multiple functionalities---form follows function
Programming matter byself-reconfiguration
All modules identical/active Connections Actuation by rotation, sliding, scaling Local communication
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Programming Matter Example:The Molecule
2 atoms, 1 bond, 5 connectors/atom 4 rotational degrees of freedom 4 Futaba S9204 10 Micro Mo motors FDM fabrication
Programming Matter Example
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Programming Matter:Distributed Control
Abstract model of relative motion: cubeSynthesize task-specific local rules (manually or learning)Prove correctnessCompile to specific hardware actuation
Programming Matter:Distributed Locomotion
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Programming MatterDistributed Control Analysis
Correctness: Some rule can always be applied Eastward motion results form all possible
sequences of rule activations The robot remains connected
Obstacle field must be shorter than therobot
Programming Matter:Another WayProof outline1. A rule can always be applied2. Rule applications Þ east movement3. The cell array remains connected
Graph equivalence1. No leaves2. Cycles : eastward displacement3. Nodes are connected cell arrays Automated proofs can be produced
for a given rule set and cell array
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Programming Matterby Disassembly
Initial configuration Finished product
Self-assembly as Sculpting
Programming Matter byDisassembly Trade-offs Simple actuation
mechanism fordisconnection
Disconnectioneasier, faster, morerobust than makingconnections
Gravity pullsmodules away
Must start from pre-assembled structure
Must rely onexternal force fordiscarding modules(gravity)
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Programming Matterby Disassembly Example
Motor
Magnet Assembly
“Switchable” Magnet
Li-PolyBatteries
Tilt Sensor
IR PhotodiodeIR LED
ARM Processor
2-D Accelerometer
Hall Effect Sensor
Miche Module
Programming MatterSelf-disassembly Algorithm
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Programming Matter Self-Disassembly Execution
5 trials, 120 secs average completion, some units can’t fall
Programming MatterLocalization with Tokens
Idea: each module computes a relative coordinateBenefits: global structure not known/needed
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Programming Matter Shape Distribution
Idea: included modules only receive message along shortest pathBenefits: no global knowledge/need of shape
Programming Matter:Self-disassembly Example
15 trials, 90 secs average completion
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What Types of Modular Robots?
Spectrum of capabilities: Self-reconfiguring: Actuation, Connection,
Computation, Sensing, Communication Self-disassembling: Connection, Computation, Sensing,
Communication Computation, Sensing, Communication Computation and Communication Inert
Spectrum of sizes: Large to Tiny Robots Spectrum of applications: ground, water, space
Programming Matterwith Microrobots
Untethered actuators Self-release Power-delivery
With B. Donald
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Programming Matter with Microrobots
Plate length: 80 microns; width 2 microns; speed 1.5 mm/sec
Programming Matter withRobots and Passive Blocks