Fachbereich Informatik

Printable Modular Robot (PMR)

The Printable Modular Robot is a project that has emerged while Dennis and Florens where working on their final thesis’s at TAMS.

We created a set of very cheap (~25€ p.p.) modules to be printed on any standard 3D-printer. The modules are driven by RC-servos, controlled by Arduino-Nano boards and connected via magnetic interfaces.


The modules can be dynamically reassembled during operation and the robot automatically detects changes in it’s topology, including the pitch/yaw orientation of every module.

For technical details, please take a look into the paper [PDF] thar has been published at the CLAWAR conference 2014 in Poznan, [Slides] are also available.
Additionally, there is a Video from the ICRA tutorial 2014, available on Youtube.

If you are interested to work with our design or code, please use the Github repositorys for:

You can also find the stl files on Thingiverse.