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Programmable 3D Stochastic Fluidic Assembly of cm-scale modules
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Programmable 3D Stochastic Fluidic Assembly of cm-scale modules  
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Self-reconfiguring modular robotic systems offer a potential route to achieving programmable matter, i.e. a sub- stance the shape and properties of which can be tuned as re- quired to achieve a variety of tasks. However, most modular robotic system designs rely on deterministic module motions which place significant power, control, and actuation require- ments on the individual modules. This leads to relatively large modules and low target structure resolution. Here we experi- mentally demonstrate an alternative approach based on sto- chastic assembly, in which modules assemble into target struc- tures in a fluidic tank. This system employs ambient fluid mo- tion for module transportation. Assembly is directed by con- trolling the fluid flow through an active assembly substrate with an array of valves. Different valving programs are used with feedback from pressure sensors to achieve the completely automated hierarchical assembly of non-planar 3D structures.
Conference: International Conference on Intelligent Robots and Systems - IROS , pp. 4366-4371, 2011
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