Task-reconfigurable robots: navigators and manipulators

Abstract

Task-reconfigurable robots consist of a set of one or more identical autonomous modules that can adapt their shape and function to tasks. We describe a module, the Inchworm robot, that can function as a climbing robot, a manipulator, or a leg in a multi-legged walker. This module can make autonomous transitions between these states. We present the control algorithms that enable our robot to be a versatile navigator and manipulator and report on our experimental results.