We discuss a robotic module called a molecule. Molecules can be the basis for building self-reconfiguring robots. They support multiple modalities of locomotion and manipulation. We describe the design, functionality, and control of the molecule. We show how a set of molecules can aggregate as active three-dimensional structures that can move and change shape. Finally, we discuss our molecule experiments.
['Keith Kotay', 'Daniela Rus', 'Marsette Vona', 'Craig D. McGray']
The self-reconfiguring robotic molecule