Paper by Erik D. Demaine
- Kenneth C. Cheung, Erik D. Demaine, Jonathan Bachrach, and Saul Griffith, “Programmable Assembly With Universally Foldable Strings (Moteins)”, IEEE Transactions on Robotics, volume 27, number 4, 2011, pages 718–729.
Understanding how linear strings fold into 2-D and
3-D shapes has been a long sought goal in many fields of both
academia and industry. This paper presents a technique to design
self-assembling and self-reconfigurable systems that are composed
of strings of very simple robotic modules. We show that physical
strings that are composed of a small set of discrete polygonal or
polyhedral modules can be used to programmatically generate any
continuous area or volumetric shape. These modules can have one
or two degrees of freedom (DOFs) and simple actuators with only
two or three states. We describe a subdivision algorithm to produce
universal polygonal and polyhedral string folding schemas, and
we prove the existence of a continuous motion to reach any such
folding. This technique is validated with dynamics simulations as
well as experiments with chains of modules that pack on a regular
cubic lattice. We call robotic programmable universally foldable
strings “moteins” as motorized proteins.
- This paper is also available from IEEE Xplore.
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