A Modular Reconfigurable Tracked Micro-robot

Abstract

A modular reconfigurable tracked micro-robot is proposed.Each single micro-module can run separately,and several micro-modules can be reconfigured into a chain-shaped robot or a loop-shaped robot.The robot is compact,small and light.A hierarchical control architecture is adopted,which comprises of a microprocessor level and a PC level and communicates through blue-tooth between two levels.Experiments verify that the chain-shaped robot has a strong obstacleclimbing capability,and can climb stairs;and that speed and adaptability of the loop-shaped robot are good.