Abstract

We present a complete, local, and parallel recon-figuration algorithm for metamorphic robots made up of Telecubes, six degree of freedom cube shaped mod-ules currently being developed at PARC. We show that by using 2x2x2 meta-modules we can achieve completeness of reconfiguration space using only local rules. Furthermore, this reconfiguration can be done in place and massively in parallel with many simulta-neous module movements. Finally we present a loose quadratic upper bound on the total number of module movements required by the algorithm.