• Further miniaturization

We have developed a miniaturized model of a self-reconfigurable modular robotic system by using an SMA actuator mechanism. The further miniaturization is under way and we have realized a prototype of 1/2 size of the first model through simplifying the design and reducing the number of parts.

Structure of a micro-sized module (second model)		Overview of a micro-sized module (Movie of two-module motion RealMedia, 1.5MB)

• Development of 3-D modules

The extension of the developed 2-D module to 3-D is also possible by using a 2-DOF rotation actuator mechanism as shown in the figure below. One 3-D module has an octahedral body part with three male and three female connection parts respectively. The shape of the body part is designed so that collision is avoided during the motion.

2-DOF Rotational Actuator Mechanism		A 3-D module with an octahedral body and three actuator mechanisms

Two modules can connect to each other at one vertex of the octahedron, by the connection of a male and a female part (the figure below, left) The modules can change their connection point from one position to another by making new connection first and releasing the old one (the figure below, right). By repeating this basic motion, various 3-D structures can be configured.

Two modules connected		Changing the connection point (Irrelevant parts omitted)

Many-module simulation from initial 27-module cube to 24-module plane Movie of simulation (Realmedia, 3.8MB)

We have developed a miniature mechanical system composed of identical units which can form various 2-D shapes, and verified its basic functionalities through experiments. Our future work includes further miniaturization, self-reconfiguration by even more units, 3-D hardware development, and application to various tasks, along with theoretical aspects of control of distributed systems.