Datom: A Deformable modular robot for building self-reconfigurable\n programmable matter

Abstract

Moving a module in a modular robot is a very complex and error-prone process.\nUnlike in swarm, in the modular robots we are targeting, the moving module must\nkeep the connection to, at least, one other module. In order to miniaturize\neach module to few millimeters, we have proposed a design which is using\nelectrostatic actuator. However, this movement is composed of several\nattachment, detachment creating the movement and each small step can fail\ncausing a module to break the connection. The idea developed in this paper\nconsists in creating a new kind of deformable module allowing a movement which\nkeeps the connection between the moving and the fixed modules. We detail the\ngeometry and the practical constraints during the conception of this new\nmodule. We then validate the possibility of movement for a module in an\nexisting configuration. This implies the cooperation of some of the modules\nplaced along the path and we show in simulation that it exists a motion process\nto reach every free positions of the surface for a given configuration.\n