04-06-2012, 02:17 PM
A 3D Fax Machine based on Claytronics
A 3D Fax Machine based on Claytronics.pdf (Size: 1.63 MB / Downloads: 77)
Abstract
This paper presents a novel application of modular
robotic technology. Many researchers expect manufacturing
technology will allow robot modules to be built at smaller and
smaller scales, but movement and actuation are increasingly
difficult as dimensions shrink.We describe an application—a 3D
fax machine — which exploits inter-module communication and
computation without requiring self-reconfiguration. As a result,
this application may be feasible sooner than applications which
depend upon modules being able to move themselves.
INTRODUCTION
Consider a hypothetical scenario in the near future, where a
paleontologist is searching in a remote location for interesting
fossil remains. Having found an interesting bone fragment, she
records the site information, using GPS and local surveying
instruments, and takes numerous digital photographs to record
the context of the find. She then takes an impression of the
fragment in clay or plaster to facilitate its later reproduction
for wider study as well as display in museums.
DESIGN
In this section, we look at the details of the software to
implement a 3D fax machine on a large collection of modular
robots acting as programmable matter. Critical to the success
of the system is the scalability of the distributed techniques
employed, as the number of units in the system can be very
large—running into many thousands or even millions of units.
CONCLUSIONS
In this paper we have described novel 3D input and output
devices constructed around an intelligent clay formed of a
myriad of tiny modular microrobots. We also presented an
algorithm for digital casting, i.e., acquisition of a 3D shape
from the inverse of a modular robot ensemble’s perimeter.
Two key limitations of this paper are the reliance of our
evaluations on regular lattices, and the absence of real hardware
testing. In the very near future we plan to extend the
simulation analysis to study the impact of grain boundaries,
uncertainty in orientation and alignment, and amorphous, nonlattice
ensembles.