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This content will become publicly available on January 1, 2024

Title: Closed-Loop Control of Magnetic Modular Cubes for 2D Self-Assembly
Reconfigurable modular robots can dynamically assemble/disassemble to accomplish the desired task better. Magnetic modular cubes are scalable modular subunits with embedded permanent magnets in a 3D-printed cubic body and can be wirelessly controlled by an external, uniform, timevarying magnetic field. This paper considers the problem of self-assembling these modules into desired 2D polyomino shapes using such magnetic fields. Although the applied magnetic field is the same for each magnetic modular cube, we use collisions with workspace boundaries to rearrange the cubes. We present a closed-loop control method for self-assembling the magnetic modular cubes into polyomino shapes, using computer vision-based feedback with re-planning. Experimental results demonstrate that the proposed closed-loop control improves the success rate of forming 2D user-specified polyominoes compared to an open-loop baseline. We also demonstrate the validity of the approach over changes in length scales, testing with both 10mm edge length cubes and 2.8mm edge length cubes.  more » « less
Award ID(s):
1932572 1553063 1849303 2313928 1659514 1849291 2313929 2050896 2130775
Author(s) / Creator(s):
; ; ; ; ; ;
Ani Hsieh
Date Published:
Journal Name:
IEEE Robotics and Automation Letters
Page Range / eLocation ID:
1 to 8
Medium: X
Sponsoring Org:
National Science Foundation
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