Tribolon: Water-based self-assembly robots

Abstract

Self-assembly is a process through which an organized structure spontaneously forms from simple parts. This process is ubiquitous in nature, and its amazing power is documented by many fascinating instances operating at various spatial scales. Despite its crucial importance, little is known about the mechanisms underlying self-assembly and not much effort has been devoted to abstract higher level design principles. Taking inspiration from biological examples of self-assembly, we designed and built a series of modular robotic systems consisting of centimeter size autonomous plastic tiles capable of aggregation on the surface of water. According to the characteristics of the modules composing them, the systems were classified as passive, active, and connectable. We conducted experiments specifically aimed demonstrating the power of behavioral representation of each system with respect to the level of autonomy of its components. We focused mainly on the effect of the morphology (here shape) of the modules, in particular on the yield of the self-assembly process. © 2009 Springer London.