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Demonstrations and simulation
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Videos of prototype functionality
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Telecube Passing
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This video shows the first generation telecube passing a telecube between
to others across a span. The module actuators are individually controlled
via a tether.
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view video 3.7M anim )
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Cantilever
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Three modules arrange in an out-of-plane configuration support modules
under gravity.
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Locomotion and manipulation simulation
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It is not clear that the physical modules will have the ability to manipulate heavy objects or even support their own weight for locomotion. However, light object manipulation and locomotion where the weight is distributed should be feasible as shown in these simulations)(paper on local control) |
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Tunnel Push
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Each module runs the same program and can only sense its neighbors,
the obstacles and relative goal location and only has the ability to
communicate to neighbors. In this simulation, the system goes around
the obstacles to the flag and pushes it using local rules that are
loosely based on animal group behavior.
( view
video 2.7M gif anim)
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Inner object move
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Here the modules are shown schematically as blue dots and an object which is internal
to the system is manipulated. Each module
contains the same program running off of local rules.
The goal position is rotated 90 degrees and offset (X,Y,Z) from the
start position.
(
view video 500k gif anim )
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3D object support
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In this case, the internal object is supported by an array of modules. They rise
to conform to the shape of the object.
(
view video 140k gif anim )
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Shape planning simulations
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These simulations use the metamodule concept. Two configurations made up of only 8 module groups in 2x2x2 blocks, has been proven to be transformable (There exists a sequence of moves for one shape to morph into the other. It has also been proven that there exist configurations without these metamodules where the system is stuck (it can't morph at all).)(paper on reconfiguration planning)
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Line to Wall
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A line of 120 modules (15 metamodules) reconfigure into a wall six modules high, ten modules wide and two modules deep.(
view video 780k gif anim )
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Plate to Table
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120 modules (15 metamodules) start in a 10x6x2 module (5x3x1 metamodule) rectanguloid, and reconfigure into a table with legs 4 modules long (2x1 metamodule). The metamodules are colored individually for easier
identification.(
view video 3.1M gif anim )
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