Self-reconfigurable modular robot - experiments on reconfiguration and locomotion

摘要

We have proposed a self-reconfigurable robotic module, which has a very simple structure. The system is capable of not only building a static structure, but also generating a dynamic robotic motion. We have also developed a simulator for the motion planning. In this paper, we present details of the mechanical and electrical designs of the developed module and its control system architecture. Experiments using ten modules demonstrate the robotic configuration change, crawling locomotion and three types of quadruped locomotion.