FireAnt: A Modular Robot with Full-Body Continuous Docks

Nature offers many examples of organisms coming together to form self-assembling structures. The attachment methods these organisms employ allow them to grab onto others' bodies, often without need for specific alignment or orientation, an ability absent from most existing robotic self-assembling structures, which require complicated sensing and specific alignment. This paper presents FireAnt, a modular 2D robot that demonstrates full-body continuous docks, an attachment mechanism able to attach anywhere onto other robots at any orientation, eliminating the need for alignment mechanisms and complex sensors. Such docks allow FireAnt to climb over copies of itself, something critical to self-assembling structures. This paper first discusses the design of FireAnt before presenting test results that show the strength and reliability of the continuous docks and demonstrate FireAnt's ability to traverse an environment consisting of inert FireAnt robots. The work presented in this paper provides a docking mechanism that can minimize the mechanical complexity of modular robots and will allow the creation of swarms of rigid and adaptable self-assembling structures.