# A programmable actuator for combined motion and connection and its application to modular robot

arXiv: https://arxiv.org/abs/1904.09889 · HTML: https://mlsanity.com/paper/1904.09889/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Mar 2019.

## Built on by (most cited first, 1 of 1)

- [On Parallel or Distributed Asynchronous Iterations with Unbounded Delays and Possible Out of Order Messages or Flexible Communication for Convex Optimization Problems and Machine Learning](https://mlsanity.com/paper/2210.04626/) (2022)

## Abstract (arXiv)

This paper proposes a new type of actuator at millimeter scale, which is based on Simplified Electro-Permanent (SEP) magnets. The new actuator can achieve connection and smooth motion by controlling the polarity of SEP magnets. Analyses based on numerical simulation are used to design a prototype. A dead-time controllable H-bridge and its multiplex design are proposed for controlling the new actuator and simplifying the electronic circuit. Finally, the new actuator is implemented in the DILI modular reconfigurable robot system. The experimental results show that with this new actuator, the DILI module can move smoothly and connect to other modules without power supply during connection. The maximum speed of DILI module is 20mm/s.