This presentation is all about metamorphic robot designed by MIT.

1. TOPIC : METAMORPHIC ROBOTS

2. CONTENTS :-
 Introduction
 Metamorphic robots vs. other reconfigurable robots.
 Digital hormone.
 Hormone propagation.
 How do they change their shape.
 Applications.
 Advantages & disadvantages
 Future improvements
 Conclusion
 References

3. Example of a robot with shape shifting capabilities.

4. INTRODUCTION
• A metamorphic robot has a ability to dynamically self
reconfigure it’s shape without any human intervention.
• A metamorphic robotic system is a collection of
independently controlled modules.

5. The modules can
connect, disconnect, and
move around adjacent
modules.

6.  All modules have the same physical structure.
 Symmetries in the mechanical structure of the modules must be such that
they fill planar and spatial regions with minimal gaps.
 The modules must have enough degrees of freedom.
 There must be electromechanical or electromagnetic connection between
modules.
Difference between metamorphic robots
and other reconfigurable robots.

7. DIGITAL HORMONE
Digital hormone is a biological concept.
Digital hormone is a concept or method of communication and control
among self-reconfigurable or metamorphic robots.

8. HORMONE PROPAGATION
 Hormone propagation is a mechanism by which a module communicates
with other modules.
 Hormone propagation is used in task specification and conflict resolution.
 In two situations a module propagates a hormone.
• When the module generates a new hormone.
• When a module receives a hormone.

9. HOW DO THEY CHANGE THEIR SHAPE?

10. Figure 1 Figure 2

11.  Planetary explorations.
 Undersea mining.
 Maintenance tasks on ship hulls and oil tanks.
 Inspection and rescue.
APPLICATIONS

12. ADVANTAGES
 They are robust.
 Cost efficient.
 Useful in dangerous environment.
 Modules are identical.

13. DISADVANTAGES
• Can be used for destructive purpose also.

14. • Equipping modules with sensors to detect external environments.
• Implementing a distributed control system where each module
decides its action in an autonomous way.
• Automatic and more efficient motion planning that is currently
hand-coded.
• Improvement of connection and motion mechanism for more
reliable motion.
FUTURE IMPROVEMENT

15. • Metamorphic robots are a revolutionary robotic technology
that could greatly enhance human capabilities in space and
enable a new range of scientific activities and planetary
exploration.
• It opens the possibility of constructing robots that can change
their shape and functionality, affording extreme adaptability to
new tasks.
CONCLUSION

16. REFRENCES :-
• A. Castano, W.M. Shen, and P. Will, Towards deployable robots with
inter-robots metamorphic capabilities, Autonomous Robots 8(3): 309-
324, 2000.
• G. Chirikjian and A. Pamecha, Bounds for self-reconfiguration of
metamorphic robots, in Proc. IEEE ICRA, 1996.
• K. Kotay and D. Rus, The self-reconfiguring robotic molecule: design
and control algorithms, in Proc. WAFR, 1998.
• S. Murata, H. Kurokawa, and S. Kokaji, Self-assembling machine, in
Proc. IEEE ICRA, 1994.