Self-Reconfigurable Robots: Platforms for Emerging Functionality

We have studied modular self-reconfigurable robots that are capable of changing their overall shape and functionality by automatic recombination of homogenous robotic modules. Our latest model, called Modular Transformer (M-TRAN), is able to metamorphose into various 3-D configurations and generate robotic motions that are suitable to its configuration. This paper presents a review of hardware design of the module, some developed software for selfreconfiguration and motion generation, and some experimental results.

• Type: Conference
• Year: 2003
• Where: DAGSTUHL
• Authors: Satoshi Murata, Akiya Kamimura, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, Shigeru Kokaji
• Keywords: DAGSTUHL 2003, DAGSTUHL 2007, Homogenous Robotic Modules, Modular Self-reconfigurable Robots, Various 3-D Configurations