Space filling robotic polyhedra modules
AssigneeXerox Corporation
InventorsMark H. Yim, John O. Lamping, Eric W. Mao
Life of this patent
Estimating the term…
Abstract
A movable robotic module including a framework defining a set of vertex elements, a set of edge elements, or a set of face elements, with the framework substantially shaped to permit face centered cubic packing. Each module includes a pivot mechanism on its framework to permit rotation of the framework with respect to other movable robotic modules. A power unit supplies operational power to each module, the power being used for rotation of the module, sensor and/or a control unit connected to the pivot mechanism and/or the power unit to control rotation of the framework.
Claims15
A movable robotic module comprising:
- a framework defining at least one of a set of vertex elements, a set of edge elements, and a set of face elements, with the framework substantially shaped to permit face centered cubic packing,
- a pivot mechanism attached to the framework to permit rotation of the framework with respect to other movable robotic modules,
- a power unit connected to the pivot mechanism to supply operational power for rotation;
- and
- a control unit connected to at least one of the pivot mechanism and the power unit to control rotation of the framework.
An assemblage of movable robotic modules, the assemblage comprising:
- a plurality of robotic modules, each robotic module substantially shaped to at least in part define a rhombic dodecahedral surface;
- and
- a distributed control unit defined at least in part by a plurality of individual control units in each of the plurality of robotic modules.
A method for defining structure assembly from an assemblage of movable robotic modules, the method comprising the steps of:
- providing a set of goals for position of movable robotic modules,
- requiring each movable robotic module to move toward one member of the set of goals;
- and
- passing information about goal state for the set of goals from each of the movable robotic modules to adjacent movable robotic modules.
A movable robotic module comprising:
- a framework defining at least one of a set of vertex elements, a set of edge elements, and a set of face elements, with the framework substantially shaped to permit face centered cubic packing, the framework substantially consisting of edge elements joined together to substantially define a space filling rhombic dodecahedron, with the pivot mechanism attached to each respective edge of the edge elements,
- a pivot mechanism attached to the framework to permit rotation of the framework with respect to other movable robotic modules,
- a power unit connected to the pivot mechanism to supply operational power for rotation;
- and
- a control unit connected to at least one of the pivot mechanism and the power unit to control rotation of the framework.
A movable robotic module comprising:
- a framework defining at least one of a set of vertex elements, a set of edge elements, and a set of face elements, with the framework substantially shaped to permit face centered cubic packing, the framework substantially consisting of face elements joined together to substantially define a space filling rhombic dodecahedron, with the pivot mechanism attached to each respective face of the face elements;
- a pivot mechanism attached to the framework to permit rotation of the framework with respect to other movable robotic modules;
- a power unit connected to the pivot mechanism to supply operational power for rotation;
- and
- a control unit connected to at least one of the pivot mechanism and the power unit to control rotation of the framework.
A movable robotic module comprising:
- a framework defining at least one of a set of vertex elements, a set of edge elements, and a set of face elements, with the framework substantially shaped to permit face centered cubic packing,
- a pivot mechanism attached to the framework to permit rotation of the framework with respect to other movable robotic modules,
- a power unit connected to the pivot mechanism to supply operational power for rotation, the power unit being positioned substantially external to the framework;
- a control unit connected to at least one of the pivot mechanism and the power unit to control rotation of the framework;
- and
- a power switching module to direct power from the movable robotic module to at least one additional movable robotic module.
Dependencies are inferred from the claim text.