Relevant work

Programmable matter - This category of research works towards a time when the modules shrink small enough to make it possible to create a variety of functional forms. The modules themselves might then form the mechanisms of the form and therefore the only functionality required in a block is the ability to communicate, bond and share power with its neighbors.

• Robot Pebble System - This project worked towards the goal of a system of programmable matter capable of 2D disassembly. The system was made out 1cm cubic modules that used electropermenant magnets to bond, communicate and share power. Further work explored the algorithms and networking necessary to communicate a three-dimensional design to the system and the necessary steps required for the system to disassemble into the target form.
• M-Blocks - This project based itself around cubic modules and focused on locomotion of blocks relative to one another. Unlike other projects which had proposed sliding motions, M-Blocks utilized angular momentum from fly-wheels to pivot around their edges.
• CHOBIE II - This project also uses cubic, homogeneous modules, but uses sliding motions to move relative to one another. In their paper they present an interesting way to optimize the steps for reconfiguration by minimizing the total energy required.

Motion primatives

Think about ways in which to categorise types of motion. Is it best to aim for different types of locomotion or perhaps a locomotion task vs a manipulation task. The latter allows for assemblies that prioritise force, position and speed in different ways, as opposed to comparing types of motion which would only draw comparisons between different types of degrees of freedom.

Digital materials

• Kenny's science paper and CSL work

Shape changing robotics

• Robotic metamorphosis by origami exoskeletons - The work of Miyashita et al. manipulate a cubic magnet using a magnetic field and cause it to interact with different origami exoskeletons. Link to paper
• The 3D printed robot octopus