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Movie of a representative microassembly experiment using devices from species 1,3,4 and 5, recorded through an optical microscope. The robots are initially arranged along the corners of a rectangle with sides 1 by 0.9 mm. The assembly experiment is divided into three stages. During stage 1, devices 4 and 5 dock together to form the initial stable shape. In stage 2, device 3 docks with the initial stable shape, while during stage 3, device 1 docks with the stable shape, forming the final assembly.
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Bruce R. Donald, Christopher G. Levey, and Igor Paprotny, "Planar Microassembly by Parallel Actuation of MEMS Microrobots (Microassembly Video)." Dartmouth Computer Science Technical Report TR2008-630, August 2008.
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