Toward a scalable modular robotic system

Satoshi Murata, Kiyoharu Kakomura, Haruhisa Kurokawa

Research output: Contribution to journalArticlepeer-review

50 Citations (Scopus)


A simple docking method has been proposed with the use of an onboard camera module which has two key ideas. First, it has an image processing that uses a camera module and LEDs that are equipped on the modules. Second, it has a special modular configuration that is designed for docking which absorbs positional errors. A self-reconfiguration sequence was also designed to integrate a docked robot into a periodic structure. Lastly, an examination was done to test the effectiveness of the proposed method by docking/integration experiments with 18 modules.

Original languageEnglish
Pages (from-to)56-63
Number of pages8
JournalIEEE Robotics and Automation Magazine
Issue number4
Publication statusPublished - 2007 Dec
Externally publishedYes


  • M-TRAN
  • Modular robot
  • Scalability
  • Self-reconfiguration
  • Visual feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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