Metamorphic Robots

A metamorphic robotic system is a collection of identical, independently controlled modules. The modules can connect, disconnect, and move around adjacent modules. Metamorphic robots attract interest because they are robust, cost-efficient, and useful in dangerous environments. Because the modules are all identical, if one breaks down, any other module can take its place. Metamorphic robots are cost-efficient because they can be mass-produced. The modules are independently controlled, so they can be used in environments where humans cannot directly observe or control them, such as interplanetary space.

Currently, we are researching decentralized algorithms to control the movement of the modules when irregular obstacles are in the way. We study two-dimensional, hexagonal metamorphic robots.

Publications

• Walter, J.E. , Brooks, M.E. , Little, D.F. , & Amato, N.M. (2004). Enveloping multi-pocket obstacles with hexagonal metamorphic robots. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA) , 3 , 2204-2209 Vol.3. https://doi.org/10.1109/ROBOT.2004.1307389
• Walter, J.E. , Brooks, M.E. , Little, D.F. , & Amato, N.M. (2003). Enveloping Obstacles with Hexagonal Metamorphic Robots. Proc. IEEE Int. Conf. Robot. Autom. (ICRA) , 1 , 741-748 vol.1. https://doi.org/10.1109/ROBOT.2003.1241682