Hardware design of modular robotic system

S. Murata, E. Yoshida, K. Tomita, H. Kurokawa, A. Kamimura, S. Kokaji

Research output: Contribution to conferencePaperpeer-review

99 Citations (Scopus)


In this paper we describe detail of hardware design of novel self-reconfigurable robotic system. We have classified previous studies on self-reconfigurable robotic systems into "lattice type" composed of spatially symmetric modules and "string type" like snake robots. The proposed system has both the advantages of simple operation of self-reconfiguration of the former and motion generation ability of the latter. Its simple structure and reliable operation allows us to construct large 3-D self-reconfigurable structure which functions as a robotic system such as legged walking machine. We have examined its basic mechanical functions and verified its reliable operation of self-reconfiguration.

Original languageEnglish
Number of pages8
Publication statusPublished - 2000
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5


Conference2000 IEEE/RSJ International Conference on Intelligent Robots and Systems


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