Self-reconfigurable robot

• US 6,725,128 B2
• Filed: 06/28/2002
• Issued: 04/20/2004
• Est. Priority Date: 07/02/2001
• Status: Expired due to Fees

• Current Assignee: Xerox Corporation (Xerox Holdings Corp.)
• Original Assignee: Xerox Corporation (Xerox Holdings Corp.)
• Inventors: Hogg, Tad H., Casal, Arancha, Kubica, Jeremy
• Primary Examiner(s): Cuchlinski, Jr., William A
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US10/064,288
• Publication Number:
  US 20030109958A1
• Time in Patent Office: 662 Days
• Field of Search: 700/95, 700/100, 700/245, 700/248, 700/249, 700/250, 700/251, 700/262, 318/560, 318/568.11, 702/182, 703/1, 703/2, 703/7, 701/23, 708/404, 708/406, 714/763, 714/764, 714/766, 714/770, 714/772, 901/1
• US Class Current: 700/245
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

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.

Claims

1. 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.

2. The method of claim 1, wherein the modules receiving the first scent maintain an optimal density.

3. The method of claim 2, wherein the modules receiving the first scent pass suggested moves to maintain the optimal density.

4. The method of claim 1, wherein the modules receiving the second scent maintain an optimal density.

5. The method of claim 1, wherein the first module is located within a close proximity with the plurality of modules.

6. The method of claim 1, wherein the first module is located along a desired direction for reconfiguration.

7. 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.

8. 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.

9. The method of claim 8, wherein if one of the faces of the module is not in contact with another module or a surface, the module does not move.

10. The method of claim 8, wherein modules in the direction of movement which are not touching the object are moved toward the object.

11. The method of claim 8, wherein the object is moved by the modules through the use of a translational motion.

12. The method of claim 8, wherein the object is moved by the modules through the use of a rotational motion.