Towards self-assembled structures with mobile climbing robots

Lucian Cucu, Mike Rubenstein, Radhika Nagpal

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations


Social insects have evolved to self-assemble ad-hoc structures from their bodies to quickly adapt to unexpected obstacles and situations. Inspired by these natural systems, we present an autonomous tread-based robot which is capable of using its own body as a building block for assembling structures. We analytically assess the optimality of the robot design, and experimentally test its ability to climb over like robots under varying conditions. Finally, using a simple self-assembly algorithm relying on only local sensing, robot prototypes are used to demonstrate the self-assembly of a 2D pyramid structure.

Original languageEnglish (US)
Article number7139454
Pages (from-to)1955-1961
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue numberJune
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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