{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T06:04:56Z","timestamp":1762409096505,"version":"3.41.2"},"reference-count":13,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2015,3,16]],"date-time":"2015-03-16T00:00:00Z","timestamp":1426464000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015,3,16]]},"abstract":"\n Purpose<\/jats:title>\n \u2013 This paper aims to present the design of a modular robot with 3D-printing technology. <\/jats:p>\n <\/jats:sec>\n \n Design\/methodology\/approach<\/jats:title>\n \u2013 The robot consists of a number of autonomous modules coupled by magnetic interfaces. Each module combines 3D-printed mechanical parts with widely available standard electronic components, including a microcontroller and a single servo actuator. The mechanical and electrical connection is provided by a single set of magnets which apply the physical force between the modules and at the same time serve as wires for power and communication. <\/jats:p>\n <\/jats:sec>\n \n Findings<\/jats:title>\n \u2013 The PMR is a full-featured robotic device, well integrated into a simulation framework, capable to execute common locomotion patterns but still extremely affordable (approximately 25\/module). Furthermore, the design is easy to extend and replicate for other research and education groups. <\/jats:p>\n <\/jats:sec>\n \n Originality\/value<\/jats:title>\n \u2013 This paper explores a novel approach of connecting devices in a complex way by utilizing very simple magnetic parts. A second focus lies on the concept of closely integrating simulation and hardware development, blurring the edge between digital and physical word.<\/jats:p>\n <\/jats:sec>","DOI":"10.1108\/ir-12-2014-0442","type":"journal-article","created":{"date-parts":[[2015,3,18]],"date-time":"2015-03-18T06:05:45Z","timestamp":1426658745000},"page":"149-155","source":"Crossref","is-referenced-by-count":5,"title":["Printable modular robot: an application of rapid prototyping for flexible robot design"],"prefix":"10.1108","volume":"42","author":[{"given":"Dennis","family":"Krupke","sequence":"first","affiliation":[]},{"given":"Florens","family":"Wasserfall","sequence":"additional","affiliation":[]},{"given":"Norman","family":"Hendrich","sequence":"additional","affiliation":[]},{"given":"Jianwei","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020122522334837700_b1","unstructured":"Diankov, R.\n (2010), \u201cAutomated construction of robotic manipulation programs\u201d, PhD Thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA."},{"key":"key2020122522334837700_b2","unstructured":"Gonz\u00e1lez-G\u00f3mez, J.\n (2014), \u201cOpenMR: modular robots plug-in for openrave\u201d, available at: www.iearobotics.com\/wiki\/index.php?title=OpenMR:_Modular_Robots_plug-in_for_Openrave (accessed 6 February 2015)."},{"key":"key2020122522334837700_b3","doi-asserted-by":"crossref","unstructured":"Gonzalez-Gomez, J.\n , \n Valero-Gomez, A.\n , \n Prieto-Moreno, A.\n and \n Abderrahim, M.\n (2011), \u201cA new open source 3D-printable mobile robotic platform for education\u201d, Proceedings of 6th International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2011), University of Bielefeld, Germany.","DOI":"10.1007\/978-3-642-27482-4_8"},{"key":"key2020122522334837700_b4","doi-asserted-by":"crossref","unstructured":"Hirose, S.\n and \n Yamada, H.\n (2009), \u201cSnake-like robots [tutorial]\u201d, \n Robotics Automation Magazine, IEEE\n , Vol. 16 No. 1, pp. 88-98.","DOI":"10.1109\/MRA.2009.932130"},{"key":"key2020122522334837700_b5","doi-asserted-by":"crossref","unstructured":"Jones, R.\n , \n Haufe, P.\n , \n Sells, E.\n , \n Iravani, P.\n , \n Olliver, V.\n , \n Palmer, C.\n and \n Bowyer, A.\n (2011), \u201cRepRap - the replicating rapid prototyper\u201d, \n Robotica\n , Vol. 29, pp. 177-191.","DOI":"10.1017\/S026357471000069X"},{"key":"key2020122522334837700_b6","doi-asserted-by":"crossref","unstructured":"Krupke, D.\n , \n Li, G.\n , \n Zhang, J.\n , \n Zhang, H.\n and \n Hildre, H.P.\n (2012), \u201cFlexible modular robotic environment for research and education\u201d, 26th European Conference on Modelling and Simulation, ECMS 2012, Koblenz, pp. 243-249.","DOI":"10.7148\/2012-0243-0249"},{"key":"key2020122522334837700_b7","doi-asserted-by":"crossref","unstructured":"Liedke, J.\n , \n Matthias, R.\n , \n Winkler, L.\n and \n Worn, H.\n (2013), \u201cThe collective self-reconfigurable modular organism (cosmo)\u201d, 2013 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, pp. 1-6.","DOI":"10.1109\/AIM.2013.6584059"},{"key":"key2020122522334837700_b8","doi-asserted-by":"crossref","unstructured":"Macdonald, E.\n , \n Salas, R.\n , \n Espalin, D.\n , \n Perez, M.\n , \n Aguilera, E.\n , \n Muse, D.\n and \n Wicker, R.B.\n (2014), \u201c3D printing for the rapid prototyping of structural electronics\u201d, \n IEEE Access\n , Vol. 2, pp. 234-242.","DOI":"10.1109\/ACCESS.2014.2311810"},{"key":"key2020122522334837700_b9","doi-asserted-by":"crossref","unstructured":"Murata, S.\n and \n Kurokawa, H.\n (2012), \n Self-Organizing Robots\n , Vol. 77 of Springer Tracts in Advanced Robotics, Springer, New York City.","DOI":"10.1007\/978-4-431-54055-7_5"},{"key":"key2020122522334837700_b10","doi-asserted-by":"crossref","unstructured":"Nagy, Z.\n and \n Abbott, J.\n (2007), \u201cThe magnetic self-aligning hermaphroditic connector a scalable approach for modular microrobots\u201d, 2007 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Zurich, pp. 1-6.","DOI":"10.1109\/AIM.2007.4412519"},{"key":"key2020122522334837700_b11","unstructured":"Smith, R.\n (2014), \u201cOpen dynamics engine\u201d, available at: www.ode.org (accessed 2014\/01\/03)."},{"key":"key2020122522334837700_b12","doi-asserted-by":"crossref","unstructured":"Yim, M.\n , \n Duff, D.\n and \n Roufas, K.\n (2000), \u201cPolybot: a modular reconfigurable robot\u201d, Proceedings of the 2000 IEEE. 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