Research on self-reconfigurable modular robot system: (Experiments on reconfiguration and locomotion with several modules)

Akiya Kamimura, Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, Kohji Tomita, Shigeru Kokaji

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The robotic module system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

Original languageEnglish
Pages (from-to)886-892
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number3
Publication statusPublished - 2002 Mar


  • Distributed Autonomous System
  • Mechatronics and Robotics
  • Modular Robot
  • Robotic Motion Generation
  • Self-Reconfiguration
  • Self-Repair


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