Dmitriy A. Nikitin
Vladimir A. Zelenskiy
Received 13 February 2020
The complex of modular robots as multipurpose self-reorganized material belongs to the concept of claytronics. Its purpose is to create material 3D objects using miniature modules that come into contact with each other. While some developers move top-bottom , creating technologies for miniaturization of robots, an alternative approach of design is the opposite direction, from the very bottom - programmable matter. The self-reconfigurable complex of modular robots is the field of robotics which task is creation of system that consists of the modules working in parallel, is capable of dynamic design change and implements a behavior type suitable for the task performance. Finding the optimal design directly depends on the elements used in the device. Depending on the operating principle, in self-reconfigurable complexes of modular robots the following are used: mechanical mounting of diverse complexity, electropermanet magnets, brushless motors based on electropermanet magnets, planar electromagnets, designs based on flexible printed circuit boards, etc. Regardless of the features, the most important direction of the system’s development is creation of an additive design, which is based on the ability to change the shape, structure using software control of each module. Also, the used mechanisms should ensure self-regeneration of the complex, auto-detection and replacement of the failed modules. Analyzing the motion mechanics of the modules, it is necessary to develop motion rules sufficient for the maximum possible flexibility of reconfiguration. Application of certain elements in the modules’ construction imposes a number of limitations when developing the control algorithms for modules’ swarm [2,3]. 3D objects creation requires an algorithm for the automated development of a program for the movement of each module in the complex. Taking into account the rules and restrictions, it should ensure the transition of the system from the starting state to the desired configuration in the minimum possible number of steps.
Self-configurable modular robot, electropermanet magnet, planar electromagnet, claytronics, programmable matter.
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