FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks
Document Type
Article
Publication Date
8-1-2023
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.
Identifier
85163542297 (Scopus)
Publication Title
IEEE Robotics and Automation Letters
External Full Text Location
https://doi.org/10.1109/LRA.2023.3290796
e-ISSN
23773766
First Page
4911
Last Page
4918
Issue
8
Volume
8
Recommended Citation
Swissler, Petras and Rubenstein, Michael, "FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks" (2023). Faculty Publications. 1550.
https://digitalcommons.njit.edu/fac_pubs/1550