Tiling Robotics: A New Paradigm of Shape‐Morphing Reconfigurable Robots

摘要

The ability of reconfigurable robots to adapt to varying tasks and environments furnishes versatility and efficiency in their operations. In this article, tiling robots are introduced as a novel paradigm of shape‐morphing reconfigurable robots, defining them as polyform‐inspired machines capable of transforming between at least two polymorphic shapes. In the study, the existing and future designs of tiling robots by varying base shapes and polygon selections are explored, identifying a significant gap for further exploration of polyforms in their design. The various reconfiguration‐enabling mechanisms and locomotion mechanisms of tiling robots are comparatively analyzed. Summarized electromechanical developments, along with a proposed generalized kinematic model and control scheme, contribute to a comprehensive understanding of tiling robots. A comparison of tiling robots with other established reconfigurable robots is conducted to position tiling robotics within the broader landscape of reconfigurable robotics. The introduction of a new naming convention addresses the absence of a standardized nomenclature for tiling robots. In this article, highlighting the current focus on area coverage in autonomy algorithms of tiling robots, future developments in diverse application domains like logistics, entertainment, and education are anticipated, emphasizing the adaptability of tiling robots as a critical feature for their proliferation across various domains.