FireAntV3: A Modular Self-Reconfigurable Robot towards Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks

FireAntV3 uses a refined version of the 3D Contin- uous Docks to attach to other such docks at any location at any orientation with simple control and without alignment. The robot improves upon previous FireAnt-series robots by redesigning the locomotion drive system to improve mechanical and attachment reliability while also reducing the number of motors from six to three. We also expand the sensory capabilities of FireAntV3 to enable the robot to sense forces, sense the direction to a light source, and to sense contacting neighbors using vibrations. We validate this robot through full-robot tests demonstrating phototaxis and neighbor-detecting behavior. This paper also describes the method for manufacturing the continuous docks in a variety of geometries.