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This paper introduces a cube-based reconfigurable robot that utilizes anelectromagnet-based actuation framework to reconfigure in three dimensions viapivoting. While a variety of actuation mechanisms for self-reconfigurablerobots have been explored, they often suffer from cost, complexity, assemblyand sizing requirements that prevent scaled production of such robots. Toaddress this challenge, we use an actuation mechanism based on electromagnetsembedded into the edges of each cube to interchangeably create identically oroppositely polarized electromagnet pairs, resulting in repulsive or attractiveforces, respectively. By leveraging attraction for hinge formation, andrepulsion to drive pivoting maneuvers, we can reconfigure the robot byvoxelizing it and actuating its constituent modules - termed Electrovoxels -via electromagnetically actuated pivoting. To demonstrate this, we developfully untethered, three-dimensional self-reconfigurable robots and demonstrate2D and 3D self-reconfiguration using pivot and traversal maneuvers on anair-table and in microgravity on a parabolic flight. This paper describes thehardware design of our robots, its pivoting framework, our reconfigurationplanning software, and an evaluation of the dynamical and electricalcharacteristics of our system to inform the design of scalableself-reconfigurable robots.

ElectroVoxel: Electromagnetically Actuated Pivoting for Scalable Modular Self-Reconfigurable Robots