A Self-Reconfigurable Modular Robot : Reconfiguration Planning and Experiments

@inproceedings{Yoshida2003ASM,
  title={A Self-Reconfigurable Modular Robot : Reconfiguration Planning and Experiments},
  author={Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
  year={2003}
}
In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult… CONTINUE READING
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