Padmanabhan Pillai, Jason D. Campbell, Gautam Kedia, Shishir Moudgal, and Kaushik Sheth
@inproceedings{pillai-iros06,
author = {Pillai, Padmanabhan and Campbell, Jason D. and Kedia,
Gautam and Moudgal, Shishir and Sheth, Kaushik},
title = {A 3D Fax Machine based on Claytronics},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots
and Systems {(IROS '06)}},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
month = {October},
year = {2006},
keywords = {Applications of Claytronics},
url = {http://www.cs.cmu.edu/~claytronics/papers/pillai-iros06.pdf},
abstract = {This paper presents a novel application of modular
robotic technology. Many researchers expect manufacturing
technology will allow robot modules to be built at smaller and
smaller scales, but movement and actuation are increasingly
difficult as dimensions shrink. We describe an application --- a
3D fax machine --- which exploits inter-module communication and
computation without requiring self-reconfiguration. As a result,
this application may be feasible sooner than applications which
depend upon modules being able to move themselves. In our new
approach to 3D faxing, a large number of sub-millimeter robot
modules form an intelligent ``clay'' which can be reshaped via
the external application of mechanical forces. This clay can act
as a novel input device, using intermodule localization
techniques to acquire the shape of a 3D object by casting. We
describe software for such digital clay. We also describe how,
when equipped with simple inter-module latches, such clay can be
used as a 3D output device. Finally, we evaluate results from
simulations which test how well our approach can replicate
particular objects.},
}
