Morpho: A self-deformable modular robot inspired by cellular structure

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 3571-3578

  Yu, Chih Han ^a,d   Haller, Kristina ^b   Ingber, Donald ^a,c,d   Nagpal, Radhika ^a,d  

^a HARVARD UNIVERSITY   (United States)

^b Massachusetts Institute of Technology Cambridge   (United States)

^c BOSTON CHILDREN S HOSPITAL   (United States)

^d HARVARD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTIVE LINKS; BIO-INSPIRED ROBOTS; CELLULAR STRUCTURE; COMPLEX STRUCTURE; DEFORMABLE STRUCTURES; DEFORMABLE SURFACES; GLOBAL FUNCTIONS; HARDWARE IMPLEMENTATIONS; INDIVIDUAL CELLS; MODULAR COMPONENTS; MODULAR ROBOTICS; MULTICELLULAR STRUCTURE; REAL TIME DEFORMATIONS; ROBOTIC STRUCTURES; SHAPE CHANGE; SURFACE MEMBRANES; TENSEGRITIES;

BIOLOGY; CELL MEMBRANES; DEFORMATION; HARDWARE; INTELLIGENT ROBOTS; MACHINE DESIGN; MODULAR ROBOTS; ROBOTICS;

STRUCTURAL DESIGN;

EID: 69549098267     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4651130     Document Type: Conference Paper

References (27)

1. C.-H. Yu, F.-X. Willems, D. Ingber, and R. Nagpal, "Self- organization of environmentally-adaptive shapes on a modular robot," in Proc. of Intl. Conf on Intelligent Robots and Systems (IROS 07), 2007.
2. V. Zykov, E. Mytilinaios, B. Adams, and H. Lipson, "Self-reproducing machine," Nature, vol.435, no.7038, pp. 163-164, 2005.
3. D. Rus, Z. Butler, K. Kotay, and M. Vona, "Self-reconfiguring robots," Communications of the ACM, vol.45, no.3, pp. 39-45, 2002.
4. J. Bishop, S. Burden, E. Klavins, R. Kreisberg, W. Malone, N. Napp, and T. Nguyen, "Self-organizing programmable parts," in Proc. of Intl. Conf on Intelligent Robots and Systems, 2006.
5. N. Wang, J. Butler, and D. Ingber, "Mechanotransduction acrtoss the cell surface and through the cytoskeleton," Science, vol.260, pp. 1124-1127, May 1993.
6. D. Ingber, "The architect of life," Scientific American, pp. 48-57, Jan 1998.
7. L. Wolpert, R. Beddington, J. Brockes, T. Jessel, P. Lawrence, and E. Meyerowitz, Principles of Development. Oxford University Press, 1998.
8. A. Kamimura, E. Yoshida, S. Murata, H. Kurokawa, K. Tomita, and S. Kokaji, "A self-reconfigurable modular robot (mtran) - hardware and motion planning software," in Proc. of DARS, 2002.
9. W.-M. Shen, M. Krivokon, H. Chiu, J. Everist, M. Rubenstein, and J. Venkatesh, "Multimode locomotion for reconfigurable robots," Autonomous Robots, vol.20, no.2, pp. 165-177, 2006.
10. M. Yim, D. Duff, and K. Roufas, "Polybot: a modular reconfigurable robot," in Proc. of Intl. Conf on Robotics and Automation, 2000.
11. K. Stoy, A.Lyder, R. Garcia, and D. Christensen, "Hierarchical robot," in Proc. of IROS Workshop on Self-Reconfigurable Robots/Systems and Applications, 2007.
12. R. Nagpal, "Programmable self-assembly using biologically-inspired multiagent control," in Proc. of AAMAS, 2002.
13. R. Schmitt and M. Sumper, "Developmental biology: How to turn inside out," Nature, vol.424, pp. 499-500, 2003.
14. G. Odell, G. Oster, P.Alberch, and B. Burnside, "The mechanical basis of morphogenesis, 1. epithelial folding and invagination," Developmental Biology, vol.85, 1981.
15. J. M. Anderson and N. K. Chhabra, "Maneuvering and stability performance of a robotic tuna," Integrative and Comparative Biology, vol.42, pp. 118-126, 2002. (Pubitemid 34927404)
16. H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, "Development of amphibious snake-like robot acm-r5," in Proc. of 36th International Symposium on Robotics, 2005.
17. M. Vona and D. Rus, "Crystalline robots: Self-reconfiguration with compressible unit modules," J. of Autonomous Robots, vol.10, 2001.
18. G. J. Hamlin and A. C. Sanderson, Tetrobot A Modular Approach to Reconfigurable Parallel Robotics. Springer, 1997.
19. K. Støy, "The deformatron robot: a biologically inspired homogeneous modular robot," in Proc. of ICRA, 2006.
20. J. Aldrich, R. Skelton, and K. Kreutz-Delgado, "Control synthesis for a class of light and agile robotic tensegrity structures," in Proc. of American Control Conference (ACC), 2003.
21. C. Paul, F. Valero-Cuevas, and H. Lipson, "Design and control of tensegrity robots for locomotion," IEEE Trans. on Robotics, 2006.
22. S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, "M-tran: Self-reconfigurable modular robotic system," IEEE/ASME Trans. Mechatron, vol.7, no.4, pp. 431-441, 2002.
23. S. C. Goldstein, J. Campbell, and T. C. Mowry, "Programmable matter," IEEE Trans. Comput., vol.38, no.6, pp. 99-101, 2005.
24. Y. Yoon and D. Rus, "Shady3d: A robot that climbs 3d trusses," in Proc. of Intl. Conf on Robotics and Automation, 2007.
25. C.-H. Yu and R. Nagpal, "Sensing-based shape formation tasks on modular multi-robot systems: A theoretical study," in Proc. Intl. Conf on Autonomous Agents and Multi-Agent Systems (AAMAS), 2008.
26. T. Umedachi, T. Kitamura, and A. Ishigurog, "A fully decentralized control of an amoeboid robot by exploiting the law of conservation of protoplasmic mass," in Proc. of ICRA, 2008.
27. X. Tu and D. Terzopoulos, "Artificial fishes: Physics, locomotion, perception, behavior," in Proc. of ACM SIGGRAPH, 1994.