Fluidic Stochastic Modular Robotics: Revisiting the System Design

Here we present a new design of a system for stochastic self-assembly and reconfiguration of zero d.o.f. lattice modular robots in the fluid. The Fluidic Stochastic Modular Robotics (FSMR) system is envisioned to serve as a prototype for future sub-millimeter scale implementation with all critical structural parts having analogous counterparts implemented in MEMS. New FSMR features include controlled mechanical module interconnections, active selective module rejection, mediate inactive module flow control, and individual module orientation sensing.