| First Loop-to-Snake Reconfiguration |
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PolyBot is the first system to demonstrate two topologically distinct locomotion modes sequentially by self-reconfiguration. This action is the first two steps of this visualization from 1995. The reconfiguration did not require docking, the system had to simply disconnect one connection port. The significance, however, is not diminished as an existence proof that multiple tasks can be accomplished through closed-chain reconfiguration.
(click for video )(1.5M mpeg)
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| Distributed Manipulation |
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Generation I modules were arranged varying the number of manipulators and number of degrees of freedom per manipulator to demonstrate distributed manipulation capabilities moving boxes and paper.
(click for video)(1.7M mpeg)
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| Locomotion in tubes |
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Using a snake-like undulating travelling wave gait, the robot climbed into and out of a 4" diameter ducting pipe. This was part of locomotion through a general rubble pile of wooden pallets etc.
(click for video)(1.5M mpeg)
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| 4-legged spider |
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This gait was actually more like a shuffle. Two legs moved at a time; the front and back reach forward while the sides balance the robot, then the front and leg balance while placeing the side legs forward.
(click for video)(600k mpeg)
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| Snake-like turning |
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These were some initial tests on gaits that turn. After several tries, it turns out the most effective way for short to medium length chains is to form arc's of circles over the whole robot.
(click for video)(2M quicktime)
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