Modular Robot with Self-Reconfigurable Capabilities

Abstract:

The paper presents a modular robot, designed for reconfiguring, in order to achieve both walking and crawling motion. Each module has 2 DOFs (rotations). Six modules can be connected to form a four-legged structure or an open chain. The robot has self-reconfiguring skills and is able to perform creeping/walking motion. A distributed control is accomplished, each module having its own controller and RF transmitter-receiver pair, for communication with the host computer.

• Periodical: Applied Mechanics and Materials (Volume 555)
• Pages: 352-357
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.555.352
• Online since: June 2014
• Authors: Bogdan Grămescu*, Constantin Niţu
• Keywords: Mobile Robot, Modular Robot, Worm-Like Locomotion

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