Abstract
A novel modular self-reconfigurable robot composed of many homogeneous modules in structure and function is developed. It can complete self-reconfigurable process and harmonic locomotion by connection and detachment of modules and relative location change of modules without any assistant. Orientation and location of modules can be set by interaction with software in master computer. Detaching/connecting structure of module is designed. For its cubic shape and single degree of freedom, module has not only lattice but also string characteristics. It can easily self reconfigure and locomotion as an integer. Self-reconfiguration and harmonic locomotion in integer of robot is carried out according to modular locomotion series, which is gotten by hand-coding or automatic produce by master computer. The master computer also control motion of robot real-time. Basic modular metamorphic functions such as detachment/connection and harmonic locomotion functions in integer as snake, four-leg structure and pedrail shape of robot are verified by several experiments in self-reconfigurable robot. Results show that robot can move and reconfigure easily and its hardware structure is feasible.
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