METAMORPHIC

ROBOTS

SUMITTED BY: SUBMITTED TO:

SUMIT DALAL MS. PURNIMA
1508155 MS. NEELIMA
EC1 MS. MONIKA
 METAMORPHIC ROBOTS

METAMORPHISM- to change the external

shape

ROBOTS-a mechanical intelligent agent

 CONTENT
 Introduction
 Algorithms for practical application
 Its advantages
 Its possible uses
 Conclusion
 references
 INTRODUCTION
 Changes shape according to terrain

 Combination of several basic units

 Transformer
 ALGORITHM FOR PRACTICAL
IMPLEMENTATION
 Include four steps
1. certain terms & assumptions
2. graph transversal algorithm
3. distributed reconfiguration
4. tackling obstacle
 TERMS & ASSUMPTION
 Plane partitioned in to equal sized
hexagon cells
 Identical modules ( basic unit )
 At any time each module knows its
- position
-edges in contact
 Continued….
-module move in the empty hexagon
 GRAPH TRAVERSAL
ALGORITHM
 Aim is to go from initial configuration to
required configuration

presently  needs  here

here to go (say to climb )
!!
here in between we need
to find best shape to take
Admissible and non admissible
configuration
The space in between is taken to
be divide in hexagons
-node as hexagon
-the interconnection as edge
Transverse graph algorithm
 DISTRIBUTED
RECONFIGURATION
 After path decision needs to move in the
modules in it
-which module will move (free)
-which is free
 Continued…
-the program in each module tells
-where it presently is
-where to go to get required shape
-which so ever becomes free that
move with required delay
 Continued…

space in between

Initial final
Position destination
 TACKLING OBSTACLE
-obstacle is seen as the set of forbidden hexagons
that module cant enter

-so by any sensing element can make out which

are forbidden hexagons
-camera or IR etc.
then programmed accordingly
 ADVANTAGES
-they are robust
-the property of metamorphism
-they individual robot can handle wide
variety of tasks
-cost effective
 NEGATIVE POINTS
-the hardware and software both are
complex
-a common man cant afford it
 POSSIBLE USES
-bridge building
-structural support
-satellite recovery
 CONCLUSION
-can carry everything in one bag (or don’t
even need a bag )so world of
compactness
-very very versatile & most faithful machine
for human
-if see it in matrix (movie) view point then it
can be a threat to the civilization
 REFERNCES
www.seminarprojects.com/Thread-
metamorphic-robots

www.cs.vassar.edu/~walter/spie.ps.gz

www.google .com