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[[Image:SuperBotStand.png|200px|right|The SuperBot modules]] The SuperBot modules fall into the chain/tree architecture. The modules have three degrees of freedom each. The design is based on two previous systems: [http://www.isi.edu/robots/conro Conro] (by the same research group) and [http://unit.aist.go.jp/is/dsysd/mtran3 MTRAN] (by Murata et al.). Each module can connect to another module through one of its six dock connectors. They can communicate and share power through their dock connectors. Several locomotion gaits have been developed for different arrangements of modules. For high-level communication the modules use hormone-based control, a distributed, scalable protocol that does not require the modules to have unique ID's.
[[Image:DogPict.jpg|200px|right|Self-Assembly by Dissasembly]] The Miche system is a modular lattice system capable of arbitrary shape formation. Each module is an autonomous robot module capable of connecting to and communicating with its immediate neighbors. When assembled into a structure, the modules form a system that can be virtually sculpted using a computer interface and a distributed process. The group of modules collectively decide who is on the final shape and who is not using algorithms that minimize the information transmission and storage. Finally, the modules not in the structure let go and fall off under the control of an external force, in this case gravity.
More details at [http://groups.csail.mit.edu/drl Miche] (Rus et al).
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