A New Porous Structure for Modular Robots

In this paper, we propose a new self-reconfiguration method based on organizing modules in meta-modules that form a 3D porous structure allowing modules to flow in parallel inside of it without blocking. We first propose a new meta-module model which can be used to fill in its internal volume an additional number of modules and describe the structure that can be built with our meta-modules which allow it to be compressible and expandable. We then show how to self-reconfigure the structure from an initial shape to a given goal shape.