论文标题
Datom：用于构建自我可编程的可编程物质的可变形模块化机器人
Datom: A Deformable modular robot for building self-reconfigurable programmable matter
论文作者
论文摘要
在模块化机器人中移动模块是一个非常复杂且容易出错的过程。与群体不同的是，在我们要定位的模块化机器人中，移动模块必须至少将连接与其他模块保持联系。为了将每个模块微型化为几毫米，我们提出了一种使用静电执行器的设计。但是，该运动由几个附件组成，分离产生了运动，每个小步骤都会失败，导致模块打破连接。本文开发的想法在于创建一种新型的可变形模块，从而允许运动，以保持移动和固定模块之间的连接。我们详细介绍了该新模块概念期间的几何形状和实际约束。然后，我们验证在现有配置中移动模块的可能性。这意味着沿路径放置的某些模块的合作，我们在模拟中表明，它存在一个运动过程，以达到表面的每个自由位置以进行给定配置。
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each module to few millimeters, we have proposed a design which is using electrostatic actuator. However, this movement is composed of several attachment, detachment creating the movement and each small step can fail causing a module to break the connection. The idea developed in this paper consists in creating a new kind of deformable module allowing a movement which keeps the connection between the moving and the fixed modules. We detail the geometry and the practical constraints during the conception of this new module. We then validate the possibility of movement for a module in an existing configuration. This implies the cooperation of some of the modules placed along the path and we show in simulation that it exists a motion process to reach every free positions of the surface for a given configuration.
