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2008
IEEE

How morphology affects self-assembly in a stochastic modular robot

8 years 9 months ago
How morphology affects self-assembly in a stochastic modular robot
Abstract— Self-assembly is a process through which an organized structure can spontaneously form from simple parts. Taking inspiration from biological examples of self-assembly, we designed and built a water-based modular robotic system consisting of autonomous plastic tiles capable of aggregation on the surface of water. In this paper, we investigate the effect of the morphology (here: shape) of the tiles on the yield of the self-assembly process, that is, on the final amount of the desired aggregate. We describe experiments done with the real system as well as with a computer simulation thereof. We also present results of a mathematical analysis of the modular system based on chemical rate equations which point to a power-law relationship between yield rate and shape. Using the real system, we further demonstrate how through a single parameter (here: the externally applied electric potential) it is possible to control the self-assembly of propeller-like aggregates. Our results see...
Shuhei Miyashita, Max Kessler, Marco Lungarella
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Shuhei Miyashita, Max Kessler, Marco Lungarella
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