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Dynamically Reconfigurable Flywheel Actuated Magnetic Cube Robotics

1. Project Introduction This project aims to design, build and characterize a demonstration set of modular cube robots that use a novel method of locomotion to achieve self-reconfiguration. Modular cube robots are one approach to form-changing robotics being developed in the programmable matter community, which enables robots to synthesize the most appropriate form on demand. Modular reconfigurable robots have been studied extensively and there are several existing solutions for reconfiguration of each modular “cell” robot. However, these previous implementations have significant limitations, several of which my project aims to overcome. The new design enables a unit module to move relative to a substrate of similar modules using flywheels to “roll” the cubes. There are many benefits of this proposed design, including the simplicity of actuation, the ability to hermetically seal the device, and the variety of possible motions, including isolated cube locomotion, and aggregate motions using synchronized actuation of the component flywheels. The project is funded through the MIT Eloranta Fellowship and will be completed over the summer of 2012.