Structures and characteristics in reconfigurable modular robots

Abstract

Reconfigurable robot is a mechatronic device that can change its own shape. Such robots are not only designed to perform a specific task but also to execute multiple tasks by changing their shape and size. In order to change their own shape, reconfigurable robots are built from multiple identical modules that can rearrange themselves to form a large variety of structures. Based on module specifications, the potential ability of the complete robot is determined. Further, module specifications in turn determine the functional reconfiguration of these robots which increases the adaptability against the change of environment. Hence, accurate movements of module are needed, but this may be extremely difficult due to the errors inherent within the control system. In this paper, structures and characteristics in self-reconfigurable robots towards change in environment are investigated. A comprehensive survey of available literature is done to identify key challenges and opportunities in this area. © Springer-Verlag 2012.