Deformable Multi M-TRAN Structure Works as Walker Generator

Abstract

Abstract. The M-TRAN is a modular robot capable of both three dimensional self-reconfiguration and whole body locomotion. The difficulties of its self-reconfiguration problem were reduced by introducing regularity in allowed structures. Several locomotion patterns in various structures were designed systematically and verified by experiments. Based on those results, a feasible scenario of operation with multiple M-TRAN modules is presented, including metamorphosis of a deformable multi-module structure, generation of walkers from the structure, walker locomotion and reassembling of walkers to the structure.