"FireAntV3: A Modular Self-Reconfigurable Robot Toward Free-Form Self-A" by Petras Swissler and Michael Rubenstein
 

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

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