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Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
    We describe a new set of prismatic movement primitives for cubic modular robots. Our approach appears more practical than previous metamodule-based approaches. We also describe recent hardware developments in our cubic robot modules that have sufficient stiffness and actuator strength so that when they work together they can realize, in earth’s gravity, all of the motion primitives we describe here.