Self-reconfigurable robot
AssigneeXerox Corporation
InventorsTad H. Hogg, Arancha Casal, Jeremy Kubica
Life of this patent
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Abstract
Methods of operating a robot comprised of a plurality of modules during reconfiguration, rearrangement to provide a support structure and internal manipulation, each module made of a cubic shape with six faces, each face including an arm for expansion and contraction with another module.
Claims12
A method of operating a robot comprised of a plurality of modules, each module made of a cubic shape with six faces, each face including an arm for expansion and contraction with another module, comprising the steps of:
- randomly choosing a first module to emit a first scent along an axis of configuration and a second scent in a direction perpendicular to the axis;
- maintaining a position of modules along the axis upon receipt of the first scent, wherein the modules along the axis propagate the second scent in the direction perpendicular to the axis;
- and
- moving modules receiving the second scent toward the axis, wherein the movement of the modules receiving the second scent is controlled by the second scent,
- wherein the first scent and the second scent remain until all of the modules are within a predetermined distance from each other.
A method of operating a robot comprised of a plurality of modules when a module receives a force along an axis above a predetermined value, each module made of a cubic shape with six faces, each face including an arm for expansion and contraction with another module, comprising the steps of:
- sending a first scent along the axis, a second scent in a perpendicular direction from the axis, and forming a rigid support by the module receiving the force;
- transitioning to a rigid support upon receipt of the first scent and propagating the second scent in the direction perpendicular to the axis by modules in receipt of the first scent;
- and
- expanding toward the second scent by modules receiving the second scent,
- wherein the first scent and second scent remain until the force received is below the predetermined value.
A method of operating a robot comprised of a plurality of modules while manipulating an object within the plurality of modules, each module made of a cubic shape with six faces, each face including an arm for expansion and contraction with another module, comprising the steps of:
- moving modules in the direction of movement into the object;
- and
- moving modules not in the direction of movement away from the object,
- wherein the modules are moved into the object and away from the object until the object is at a final location.
Dependencies are inferred from the claim text.