Self-Reconfigurable Robots: Platforms for Emerging Functionality

  title={Self-Reconfigurable Robots: Platforms for Emerging Functionality},
  author={Satoshi Murata and Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Shigeru Kokaji},
  booktitle={Embodied Artificial Intelligence},
We have studied modular self-reconfigurable robots that are capable of changing their overall shape and functionality by automatic recombination of homogenous robotic modules. Our latest model, called Modular Transformer (M-TRAN), is able to metamorphose into various 3-D configurations and generate robotic motions that are suitable to its configuration. This paper presents a review of hardware design of the module, some developed software for selfreconfiguration and motion generation, and some… CONTINUE READING
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Reconfiguration Planning for a Self-Assembling Modular Robot

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