Modular Fluidic Propulsion Robots

We propose a novel concept for modular robots, termed fluidic propulsion (MFP), which promises to combine effective propulsion, large reconfiguration space, and scalable design. MFP robots are fluid networks. To propel, they route through themselves. In this article, both hydraulic pneumatic implementations considered. The move towards goal by way of decentralized controller that runs independently on each module face, uses two bits sensory information requires neither run-time memory, nor communication. prove 2-D reach the when orthogonally convex shape, or morphology-dependent distance from it arbitrary shape. present prototype show, experimentally, succeeds in reaching at least 90% trials, 71% less energy is expended modules can communicate. Moreover, simulations with 3-D performs almost as well state-of-the-art centralized controller. Given simplicity hardware requirements, could pave be used sub-centimeter-scale, where systems have not been demonstrated.