Self-assembling mobile linkages

Carrick Detweiler, Marsette Vona, Yeoreum Yoon, Seung Kook Yun, Daniela Rus

Research output: Contribution to journalArticlepeer-review

35 Scopus citations


The concept of self-assembling robot systems consisting of passive structural modules plus active robotic modules have been explored. A proof of concept implementation have been described where the active module type is a 2- or 3-degrees of freedom (DoF) linear structure with grippers at both ends and the passive modules are rigid bars. A variety of linkage structures can be self-assembled from these two basic module types in simulation. These structures include self-reconfiguring, hyperredundant, variable-geometry truss and truss climbing robots. An example of a physical structure that can be self-assembled: a 3-DoF manipulator made of two robot modules and one passive bar is also presented.

Original languageEnglish (US)
Pages (from-to)45-55
Number of pages11
JournalIEEE Robotics and Automation Magazine
Issue number4
StatePublished - Dec 2007
Externally publishedYes


  • Climbing robot
  • Grasping
  • Self-assembly

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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