Abstract
This article presents a review on trends in modular reconfigurable robots, comparing the evolution of the features of the most significant robots over the years and focusing on the latest designs. These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering. For each feature, some of the most relevant designs are presented and the current trends in the design are discussed.
Highlights
A module can be defined as a piece or a set of pieces that are repeated in a construction of any kind to make it easier, regular, and economic
A robotic module is a “module that performs, totally or partially, typical tasks of a robot, and that has the ability to interact with other modules.”[1] a modular robot is a robot composed of modules, that is, “a robot composed of parts that have independent functionalities but are able to interact with each other in one or more ways, resulting in an entity with new capabilities.”[1]
CEBOT is a dynamically configurable robot that has the capability of self-organization, self-evolution, and functional amplification
Summary
A module can be defined as a piece or a set of pieces that are repeated in a construction of any kind to make it easier, regular, and economic. Tendency in modular robots has been toward self-reconfiguration, several manually configurable robot designs have appeared in the past decade or so Examples of these types are CONRO,[10] Microtub,[54,27] Fable II,[40] PetRo,[35] and Alligator.[39]. Snake-like modular robots (usually chain-type) are robots that mimic serpent locomotion and are composed of one or two types of repeated modules In this system, it is possible to change position of modules, usually through manual-reconfiguration, but the configuration remains the same.
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