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Miniaturization Methods for Modular Robotics: External Actuation and Dielectric Elastomer Actuation

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Figure

Figure 2.1: Lattice style modular robots with deformable units: (a) the Metamorphicsystem [108, 110] ( cOdin [89] ( c⃝ 1997 IEEE), (b) Crystalline [129], (c) Telecube [140], and (d)⃝ 2008 IEEE).
Figure 2.3: Chain style modular robots: (a) PolyPod segment [171], (b) Polybotspider [173], (c) CONRO legged robot [133], (d) Molecube system demonstratingself-replication [193], and (e) CKBot dynamic rolling loop [131].
Table Motion Profile Relocating Module
Figure 3.3: Relationship between magnet size (cylinder with diameter equal to height
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