{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/47822"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/47822","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Optimal self assembly of modular manipulators with active and passive modules","abstract":"In this thesis, we describe algorithms to build self-assembling robot systems composed of active modular robots and passive bars. The robotic module is the Shady3D robot and the passive component is a rigid bar with embedded IR LEDs. We propose algorithms that demonstrate the cooperative aggregation of modular robotic manipulators with greater capability and workspace out of these two types of elements. The distributed algorithms are based on locally optimal matching. We demonstrate how to build an active structure by the cooperative aggregation and disassembly of modular robotic manipulators. A target structure is modeled as a dynamic graph. We prove that the same optimality - quadratic competitive ratio - as for the static graph can be achieved for the algorithms. We demonstrate how this algorithm can be used to build truss-like structures. We present results from physical experiments in which two 3DOF Shady3D robots and one rigid bar coordinate to self-assemble into a 6DOF manipulator. We then demonstrate cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm.","abstract_html":"In this thesis, we describe algorithms to build self-assembling robot systems composed of active modular robots and passive bars. The robotic module is the Shady3D robot and the passive component is a rigid bar with embedded IR LEDs. We propose algorithms that demonstrate the cooperative aggregation of modular robotic manipulators with greater capability and workspace out of these two types of elements. The distributed algorithms are based on locally optimal matching. We demonstrate how to build an active structure by the cooperative aggregation and disassembly of modular robotic manipulators. A target structure is modeled as a dynamic graph. We prove that the same optimality - quadratic competitive ratio - as for the static graph can be achieved for the algorithms. We demonstrate how this algorithm can be used to build truss-like structures. We present results from physical experiments in which two 3DOF Shady3D robots and one rigid bar coordinate to self-assemble into a 6DOF manipulator. We then demonstrate cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm.","abstract_has_math":false,"creators":["Yun, Seung-kook"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["Daniela Rus."],"committee_chairs":[],"committee_members":[],"year":2009,"date_issued":"2009","date_published":"2009","updated_at":"2026-07-22T22:21:45Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"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."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/47822","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Daniela Rus."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:creator","label":"Author","values":["Yun, Seung-kook"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2009-10-01T15:47:20Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2009-10-01T15:47:20Z"]},{"key":"dc:date.issued","label":"Date","values":["2009"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electrical Engineering and Computer Science."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["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."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/47822"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.","Includes bibliographical references (p. 89-92)."]},{"key":"dc:description.abstract","label":"Abstract","values":["In this thesis, we describe algorithms to build self-assembling robot systems composed of active modular robots and passive bars. The robotic module is the Shady3D robot and the passive component is a rigid bar with embedded IR LEDs. We propose algorithms that demonstrate the cooperative aggregation of modular robotic manipulators with greater capability and workspace out of these two types of elements. The distributed algorithms are based on locally optimal matching. We demonstrate how to build an active structure by the cooperative aggregation and disassembly of modular robotic manipulators. A target structure is modeled as a dynamic graph. We prove that the same optimality - quadratic competitive ratio - as for the static graph can be achieved for the algorithms. We demonstrate how this algorithm can be used to build truss-like structures. We present results from physical experiments in which two 3DOF Shady3D robots and one rigid bar coordinate to self-assemble into a 6DOF manipulator. We then demonstrate cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.M."]},{"key":"dc:title","label":"Title","values":["Optimal self assembly of modular manipulators with active and passive modules"]}]}],"canonical_facts":{"dc:contributor.advisor":["Daniela Rus."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:creator":["Yun, Seung-kook"],"dc:date.accessioned":["2009-10-01T15:47:20Z"],"dc:date.available":["2009-10-01T15:47:20Z"],"dc:date.issued":["2009"],"dc:description":["Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.","Includes bibliographical references (p. 89-92)."],"dc:description.abstract":["In this thesis, we describe algorithms to build self-assembling robot systems composed of active modular robots and passive bars. The robotic module is the Shady3D robot and the passive component is a rigid bar with embedded IR LEDs. We propose algorithms that demonstrate the cooperative aggregation of modular robotic manipulators with greater capability and workspace out of these two types of elements. The distributed algorithms are based on locally optimal matching. We demonstrate how to build an active structure by the cooperative aggregation and disassembly of modular robotic manipulators. A target structure is modeled as a dynamic graph. We prove that the same optimality - quadratic competitive ratio - as for the static graph can be achieved for the algorithms. We demonstrate how this algorithm can be used to build truss-like structures. We present results from physical experiments in which two 3DOF Shady3D robots and one rigid bar coordinate to self-assemble into a 6DOF manipulator. We then demonstrate cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm."],"dc:description.degree":["S.M."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/47822"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"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."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Electrical Engineering and Computer Science."],"dc:title":["Optimal self assembly of modular manipulators with active and passive modules"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:21:45Z"}