A three-dimensional self-reconfigurable system

Haruhisa Kurokawa, Satoshi Murata, Echi Yoshida, Kohji Tomita, Shigeru Kokaji

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


A three-dimensional (3D) self-reconfigurable system made of identical units is proposed. Each unit has six arms on the surface of its base cube which can connect to neighboring units mechanically. By the connection, a cubic-lattice structure is formed. A unit can carry its neighborunit from one node of the lattice to another by rotating its arm by 90°. Repeating this movement, the structure can reconfigure itself to realize various 3D structures. The general process of reconfiguration was proposed for this system. A prototype system including six units was madeand basic motions of self- reconfiguration were verified.

Original languageEnglish
Pages (from-to)591-602
Number of pages12
JournalAdvanced Robotics
Issue number6
Publication statusPublished - 1998 Jan 1


  • Distributed autonomous system
  • Modular robot
  • Modular structure


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