Self-reconfigurable modular robot (M-TRAN) and its motion design

TLDR

The paper details the hardware design, basic experiments, and motion examples of the M‑TRAN system. The authors present M‑TRAN, a self‑reconfigurable modular robot that can autonomously change configuration and perform various motions, with two versions (I and II) where the second incorporates onboard multi‑computers, reliable inter‑module communication, low power consumption, and precise motor control.

Abstract

We have developed a modular robotic system (M-TRAN), which can change its configuration by itself. By using many DOFs of mechanism and self-reconfiguration capability, it can realize several types of motion, and can make various configurations. We have made two models of the system (M-TRAN I & II). In M-TRAN II, various improvements are integrated such as onboard multi-computers, reliable inter-module communication system, low power consumption, precise motor control, etc. Its hardware design, basic experiments and examples of motion are presented in this paper.