— This paper represents the state of the art development on the field of artificial multi-robot organisms. It briefly considers mechatronic development, sensor and computational equipment, software framework and introduces one of the Grand Challenges for swarm and reconfigurable robotics.
— In this paper we present the development of a new self-reconfigurable robotic platform for performing on-line and on-board evolutionary experiments. The designed platform can work as an autonomous swarm robot and can undergo collective morphogenesis to actuate in different morphogenetic structures. The platform includes a dedicated power management, rich… (More)
In a swarm of robots the individual entities can profit from cooperation, emerge new behaviors and can increase the overall fitness. In a more advanced approach, robots work not only collectively, but can also aggregate into multi-robot organisms and can share energy, resources and functionality. This approach provides many advantages for robotic systems:… (More)
— Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for self-reconfigurable systems, show advances of mechatronic and software design of heterogeneous platforms and discuss… (More)
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic properties of this control and a dynamics of different body segments. It turned out that despite using homogeneous… (More)
—In this paper, we introduce a framework for automatic generation of dynamic equations for modular self-reconfigurable robots and investigate a few adaptive control strategies. This framework enables to analyse the kinematics, dynamics and control for both, serial and branched multi-body robot topologies with different dyad structures. The equations for… (More)
In this paper, we introduce a framework for automatic generation of dynamic equations for modular and reconfigurable robotic systems. The framework is developed in C++ and is capable to deal with both symbolic and numerical type of variables. For this reason, the model for kinematics and dynamics can either be formulated symbolically with high precisions or… (More)