Skip to main content

Approach to the dynamically reconfigurable robotic system


In this paper, a newly proposed robotic system called the dynamically reconfigurable robotic system (DRRS), is reconfigurable for given tasks, so that the level of flexibility and adaptability is much higher for a change of working environments than conventional robots which have un-metamorphic shapes and structures. This robotic system consists of many cells which have fundamental mechanical functions. Each cell is able to detach and combine autonomously, so that the system can self-reorganize depending on a task or on working environments, and can also be self-repairing. DRRS has many applications in many fields, e.g. maintenance robots, more advanced working robots, free-flying service robots in space, more evolved flexible automation, etc. This paper shows the concept of this system, the mechanism of cells, the basic experimental results of the rough approach control between cells, and the decision method of such cell-structured manipulator configurations. This method is based on the reachability of the manipulators for working points, and so is able to apply the design of ordinary manipulators.

This is a preview of subscription content, access via your institution.


  1. Fukuda, T., Advanced Robotics under Hostile Environments, McGraw-Hill (1986) (in Japanese).

  2. Akin, D. L., et al., Space applications of automation, robotics and machine intelligence systems (ARAMIS)-Phase II, NASA (1983).

  3. Knight, J. A. G., The latest developments of FMS in Japan, Proc. of the 1st Int. Conf. on FMS, pp. 31–47, (1982).

  4. Fukuda, T. and Kobayashi, H., A study on a flexible mobile robot with versatile shape control based on multiple link-wheel mechanism, 1st report, Bull. JSME 29-256, 3545–3552 (1986).

    Google Scholar 

  5. Fukuda, T. and Kobayashi, H., A control configured robot (CCR) approach for a mobile robot with consideration of joint load distribution about each work point control, Proc. Japan-USA Symp. on Flexible Automation, pp. 309–316 (1986).

  6. Fukuda, T. and Kobayashi, H., Configuration control method of a control configured robot (CCR) consisting of multiple link-wheel mobile mechanism, Prepr. of 10th IFAC World Congress on Automatic Control, Vol. 4, pp. 226–231, (1987).

    Google Scholar 

  7. Fukuda, T. and Nakagawa, S.: Cell structured robots, 3rd Robotics Society of Japan, pp. 423–424, (1985) (in Japanese).

Download references

Author information

Authors and Affiliations


Rights and permissions

Reprints and Permissions

About this article

Cite this article

Fukuda, T., Nakagawa, S. Approach to the dynamically reconfigurable robotic system. J Intell Robot Syst 1, 55–72 (1988).

Download citation

  • Received:

  • Issue Date:

  • DOI:

Key words

  • DRRS (dynamically reconfigurable robotic system)
  • cell/module structure
  • reorganization of the optimal manipulator configurations
  • algorithm for approach control between cells