This document discusses metamorphic robots, which are robots capable of changing their external shape. It proposes that these robots could be made of identical modules that can rearrange themselves into different configurations depending on the terrain or task. The document outlines an algorithm for practical implementation involving graph traversal to determine optimal configurations and distributed reconfiguration of modules to achieve the required shape. Metamorphic robots could have applications in tasks like bridge building and satellite recovery due to their versatility.

1. METAMORPHIC
ROBOTS
SUMITTED BY: SUBMITTED TO:
SUMIT DALAL MS. PURNIMA
1508155 MS. NEELIMA
EC1 MS. MONIKA

2. METAMORPHIC ROBOTS
METAMORPHISM- to change the external
shape
ROBOTS-a mechanical intelligent agent

4. CONTENT
 Introduction
 Algorithms for practical application
 Its advantages
 Its possible uses
 Conclusion
 references

5. INTRODUCTION
 Changes shape according to terrain
 Combination of several basic units
 Transformer

7. ALGORITHM FOR PRACTICAL
IMPLEMENTATION
 Include four steps
1. certain terms & assumptions
2. graph transversal algorithm
3. distributed reconfiguration
4. tackling obstacle

8. 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

9. Continued….
-module move in the empty hexagon

10. 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

11. Admissible and non admissible
configuration

12. The space in between is taken to
be divide in hexagons
-node as hexagon
-the interconnection as edge

13. Transverse graph algorithm

14. DISTRIBUTED
RECONFIGURATION
 After path decision needs to move in the
modules in it
-which module will move (free)
-which is free

15. 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

16. Continued…
space in between
Initial final
Position destination

17. 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

19. ADVANTAGES
-they are robust
-the property of metamorphism
-they individual robot can handle wide
variety of tasks
-cost effective

20. NEGATIVE POINTS
-the hardware and software both are
complex
-a common man cant afford it

21. POSSIBLE USES
-bridge building
-structural support
-satellite recovery

22. 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

23. REFERNCES
www.seminarprojects.com/Thread-
metamorphic-robots
www.cs.vassar.edu/~walter/spie.ps.gz
www.google .com