@inproceedings{kirby05,
author = {Kirby, Brian and Campbell, Jason D. and Aksak, Burak and
Pillai, Padmanabhan and Hoburg, James F. and Mowry, Todd C. and
Goldstein, Seth Copen},
title = {Catoms: Moving Robots Without Moving Parts},
url = {http://www.cs.cmu.edu/~claytronics/papers/kirby05.pdf},
booktitle = {AAAI (Robot Exhibition)},
venue = {AAAI (Robot Exhibition)},
pages = {1730--1},
year = {2005},
month = {July},
address = {Pittsburgh, PA},
keywords = {Ensemble Principle},
abstract = {We demonstrate modular robot prototypes developed as
part of the Claytronics Project (Goldstein et al. 2005). Among
the novel features of these robots (“catoms”) is their ability to
reconfigure (move) relative to one another without moving parts.
The absence of moving parts is central to one key aim of our
work, namely, plausible manufacturability at smaller and smaller
physical scales using high-volume, low-unit-cost techniques such
as batch photolithography, multi-material submicron 3D
lithographic processing, and self assembly. Claytronics envisions
multi-million-module robot ensembles able to form into three
dimensional scenes, eventually with sufficient fidelity so as to
convince a human observer the scenes are real. This work presents
substantial challenges in mechanical and electronic design,
control, programming, reliability, power delivery, and motion
planning (among other areas), and holds the promise of radically
altering the relationship between computation, humans, and the
physical world.},
}