
Construction and DeconstructionConstruction and Deconstruction 121
In addition, when self-confi gurable robots are further miniaturized, fewer
components can be included in each module, so the resulting heterogeneity
must increase.
6.2.3 Assembly and Disassembly
Figure 6.12 illustrates the process of forming shapes through assembly and
disassembly.
Initially a regular block of material results by modules assembly is
characterized by the operator U. Once this material structure is completed,
the modules not needed in the fi nal structure detach from the neighbors.
The process is described by the operator D.
Once these extra modules are removed, we ...