A Stochastic Self-reconfigurable Modular Robot with Mobility Control

  • Runxiao Ding
  • Paul Eastwood
  • Francesco Mondada
  • Roderich Groß
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)


Recently, a variety of robotic systems have been studied under the umbrella term of modular reconfigurable robotics [7,6]. Unlike conventional fixedmorphology robots, whose performance is usually confined by the operating environment and their own size, modular reconfigurable robots have the potential advantage of being able to change their morphology by rearranging the connectivity of their modular units [3]. This project investigates the development and improvement of a self-reconfigurable modular robot designed in previous work to study the emergence of robotic life-forms in a controllable physical environment [4]. The system contains 7 cm x 7 cm square robot units. Each unit is externally propelled and moves stochastically on an air table [2,1]. Each unit can establish, and break, up to four physical connections with other units by means of swiveling permanent magnets [4,1]. Connected units can communicate using infra-red transceivers.


Modular Unit Mobility Control Modular Robot Grammatical Approach Reconfigurable Robot 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Runxiao Ding
    • 1
  • Paul Eastwood
    • 1
  • Francesco Mondada
    • 2
  • Roderich Groß
    • 1
  1. 1.Natural Robotics Lab, Department of Automatic Control and Systems EngineeringThe University of SheffieldSheffieldUK
  2. 2.LSROÉcole Polytechnique Fédérale de LausanneLausanneSwitzerland

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