Modular e-puck Extension
The modular e-puck extension is a structural extension for the e-puck robot that transforms what is a swarm robotics platform into a self-reconfigurable modular robotic system.
For further information please contact Lachlan Murray.
Abstract: We present the design of a new structural extension for the e-puck mobile robot. The extension may be used to transform what is a swarm robotics platform into a self-reconfigurable modular robotic system. As a proof of concept, we present an algorithm for controlling the collective locomotion of a group of e-pucks that are equipped with the extension. Our approach proves itself to be an effective method of coordinating the movement of a group of physically connected e-pucks. Furthermore, the system shows robustness in its ability to self-reconfigure and self-assemble following a disruption which alters the group's structure.
The designs for the modular e-puck extension are available under the Creative Commons Attribution-NonCommercial 3.0 Unported License.
The extension consists of three main structural segments (pictured right). The designs for each of the three parts may be downloaded as .dwg or .stl files.
The parts have been successfully printed on a MakerBot Thing-O-Matic 3D printer. For the highest quality results, minor alterations to the designs may be required when utilising other forms of rapid prototyping.
To assemble the complete extension three 15mm hexagonal spacers, three M2 12mm set screws, and eight 6x2mm Neodymium disc magnets are required.
Example code for controlling e-pucks equipped with the extension will be made available in the future. For further information please contact Lachlan Murray.