Self-reconfigurable modular robot (M-TRAN) and its motion design

Abstract

We have developed a modular robotic system (M-TRAN), which can change its configuration by itself. By using many DOFs of mechanism and self-reconfiguration capability, it can realize several types of motion, and can make various configurations. We have made two models of the system (M-TRAN I & II). In M-TRAN II, various improvements are integrated such as onboard multi-computers, reliable inter-module communication system, low power consumption, precise motor control, etc. Its hardware design, basic experiments and examples of motion are presented in this paper.