Journal article

Self-Assembly at the Macroscopic Scale

In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 22 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. We present a taxonomy of the systems, and discuss design principles and functions. Finally, we indicate potential directions for future research.

Related material