Best Systems Paper, RSS 2016. In this paper, we present an end-to-end system for addressing tasks with modular robots, and demonstrate that it is capable of accomplishing challenging multi-part tasks in hardware experiments.
SMORES-EP is a modular robot designed and built at the University of Pennsylvania, and used by researchers at Penn and Cornell. SMORES stands for Self-Assembling MOdular Robot for Extreme Shapeshifting, and EP refers to the Electro-Permanent magnets the modules use to connect.
To take full advantage of the flexibility of a modular robot system, users must be able to create and verify new configurations and behaviors quickly. We have developed a design framework that facilitates rapid creation of new configurations and behaviors through composition of existing ones, and tools to verify configurations and behaviors as they are …
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