Cubolding Self-assembling Structures
INVESTIGATORS: A. Scott Howe (PI).
FUNDING: Supported by Plug-in Creations Architecture, LLC.
PERIOD: 2003.
ABSTRACT: The Cubolding system is a general-use block system that can be used for creating bridges, walls, level platforms, and enclosures. The robotic Cubolding unit consists of six square panels fastened together by two power triangles of actuators. The power triangles are configured in such a way that temporary release of any one square panel from its neighbors will allow the actuators to push it away from the body of the cube. The square panels can individually be pushed away orthogonally or diagonally on command. In addition, the cubes are able to clasp or unclasp other cubes that lie squarely adjacent to themselves. This function allows the power triangles to selectively push and pull various faces of the cubes and move along a previously assembled structure in an inchworm fashion. Two or more cubes can be attached to each other in groups for assembly, to provide anchorage for each other in turn. The assembly groups can be continuously fed onto the structure at any point, whereupon they self-locate along the structure, climbing and turning corners to fill out any desired building configuration. The cubes can be broken down into their component square panels for compact transport.
Other relevant links, images, and animations:
Cubolding construction scenario animation (1.1mb)
A.S. Howe (2004). Cubolding and Trigons: Modular Robotic Construction Systems. Proceedings of the Robosphere 2004 conference. 9 - 10 November 2004, NASA Ames Research Center, Palo Alto, California.
A.S. Howe; S. Colombano (2004 May 20). Self-constructing / Self-reconfiguring Modular Construction Systems. White paper, submitted in response to the NASA Exploration Systems Enterprise, Request for Information RFI04212004.
W. Yip; A.S. Howe (2003 September). Deployable Secondary Support Structures for Planetary Construction (AIAA 2003-6282). AIAA Space 2003 Conference & Exposition, Long Beach, California, USA, 23-25 September 2003. Reston, Virginia, USA: American Institute of Aeronautics and Astronautics.
M. Ho; A.S. Howe (2003). Visual – Virtual Light Facades in the Information Age. Proceedings of the Second International Conference on Construction in the 21st Century (CITC-II). 10-12 December, 2003, Hong Kong.