Abstract
This paper is focused on the application of modular robots in semi-structured environments. Manipulation and displacement capabilities are the main advantages of this self-configurable system. Control architecture for modular systems has been specifically designed. Modules are ensemble in order to become more complex mechanisms, called molecules. Molecules work in a similar manner as a common robot and can change their configuration according to task requirements. This system, called RobMAT, includes an advanced interface for teleoperation. It allows guiding modules and molecules, and also calibrating remote environments. Experiments have highlighted the relevance of module synchronization and trajectory control. Synchronization is a critical point for module cooperation, whereas specific trajectory control is required for improving guidance performance
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