Morpho : a self-deformable modular robot inspired by cellular structure

In this paper, we present a modular robot design inspired by the creation of complex structures and functions in biology via deformation. Our design is based on the Tensegrity model of cellular structure, where active filaments within the cell contract and expand to control individual cell shape, and sheets of such cells undergo large-scale shape change through the cooperative action of connected cells. Such deformations play a role in many processes: early embryo shape change, heart and intestine function, and in lamprey locomotion. Modular robotic systems that replicate the basic deformable multicellular structure have the potential to quickly generate large-scale shape change and create time-varying shapes to achieve different global functions. We present a design and initial hardware implementation of this model. Our design includes four different modular components: (1) actuating links, (2) passive (compressive) links, (3) elastic surface membranes, and (4) universal connecting interfaces. In both hardware implementation and simulation, we show several self-deformable structures that can be generated from these four components, including the deformable surface, expandable cube, terrain-adaptive bridge from [1] and some examples inspired by biology. We argue that self-deformation is more appropriate for dynamic and sensing-adaptive shape change in a certain class of tasks.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2008

Author dc:creator

• Haller, Kristina M. (Kristina Marie)

Advisor dc:contributor.advisor

• Daniela Rus.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/45842

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/45842