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Cubical modular robots | Synapse

April 15, 2026Open Access

Cubical modular robots

Key Points

This research explores the movement and configuration capabilities of modular robots made of identical cubes in a d-dimensional space.
Examined the configuration space of d-dimensional cubes
Analyzed sliding movements of cubes along axes
Identified characteristics of singularities in the complement of the configuration space
Demonstrated the presence of a dense open smooth submanifold in the configuration space
Showed that book singularities are generic in the complement of this space

Abstract

Abstract We study a simple type of modular robot, consisting of a collection of identical d -dimensional cubes in {R}^d R d, which change position by sliding along each other (parallel to the axes). We describe the configuration space of such a mechanism, and show that it has a dense open smooth submanifold, and that book singularities are generic in its complement.

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Authors

D

David Blanc

N

Nir Shvalb

Journals

Journal of Applied and Computational Topology

Actions

Institutions

University of Haifa

Ariel University

References and Citations

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Cite this study

Blanc et al. (Mon,) studied this question.

www.synapsesocial.com/papers/69df2cb9e4eeef8a2a6b1e62 — DOI: https://doi.org/10.1007/s41468-026-00236-0