Towards self-assembled structures with mobile climbing robots

Lucian Cucu; Mike Rubenstein; Radhika Nagpal

doi:10.1109/ICRA.2015.7139454

Towards self-assembled structures with mobile climbing robots

Lucian Cucu, Mike Rubenstein, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

Abstract

Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to climb over like robots under varying conditions. Finally, using a simple self-assembly algorithm relying on only local sensing, robot prototypes are used to demonstrate the self-assembly of a 2D pyramid structure.

Original language	English (US)
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1955-1961
Number of pages	7
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139454
State	Published - Jun 29 2015
Externally published	Yes
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	5/26/15 → 5/30/15

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ICRA.2015.7139454

Cite this

Cucu, L., Rubenstein, M., & Nagpal, R. (2015). Towards self-assembled structures with mobile climbing robots. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 1955-1961). Article 7139454 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139454

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title = "Towards self-assembled structures with mobile climbing robots",

abstract = "Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to climb over like robots under varying conditions. Finally, using a simple self-assembly algorithm relying on only local sensing, robot prototypes are used to demonstrate the self-assembly of a 2D pyramid structure.",

author = "Lucian Cucu and Mike Rubenstein and Radhika Nagpal",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

year = "2015",

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doi = "10.1109/ICRA.2015.7139454",

language = "English (US)",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Cucu, L, Rubenstein, M & Nagpal, R 2015, Towards self-assembled structures with mobile climbing robots. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139454, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 1955-1961, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7139454

Towards self-assembled structures with mobile climbing robots. / Cucu, Lucian; Rubenstein, Mike; Nagpal, Radhika.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1955-1961 7139454 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Nagpal, Radhika

PY - 2015/6/29

Y1 - 2015/6/29

N2 - Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to climb over like robots under varying conditions. Finally, using a simple self-assembly algorithm relying on only local sensing, robot prototypes are used to demonstrate the self-assembly of a 2D pyramid structure.

AB - Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to climb over like robots under varying conditions. Finally, using a simple self-assembly algorithm relying on only local sensing, robot prototypes are used to demonstrate the self-assembly of a 2D pyramid structure.

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M3 - Conference contribution

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BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

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Y2 - 26 May 2015 through 30 May 2015

ER -

Cucu L, Rubenstein M, Nagpal R. Towards self-assembled structures with mobile climbing robots. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1955-1961. 7139454. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139454

Towards self-assembled structures with mobile climbing robots

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