Background:
Modular self-reconfigurable robot is a hot topic in current robotics research,
the modular self-reconfigurable robot is composed of several modules with certain autonomous ability
and perceptual ability. Through mutual docking and assembly, the overall configuration is changed to
achieve different moves and operation functions. Compared with the traditional robot, it has strong
adaptability to the environment and the ability to deal with changeable tasks.
Objective:
The recent modular self-reconfigurable robot is summarized, and its structure, characteristics
and development are introduced.
Methods:
This paper summarizes the patents and research progress of modular self-reconfigurable robot,
and introduces the current development of modular self-reconfigurable robot from the aspects of
structure features, docking methods, driving types and applications.
Results:
This paper classifies the structural features, docking methods and driving types of various
modular self-reconfigurable robots, summarizes the typical features, and discusses the current and future
development of modular self-reconfigurable robots.
Conclusion:
Modular self-reconfigurable robot is a new subject in the field of robotics research in recent
years. Through the docking among a large number of unit modules which changes the overall configuration,
extends the motion form and realizes different motion gait, modular self-reconfigurable
robot can replace traditional robot to complete the work in a complex environment, which is of great
significance to the development of robot. Therefore, more modular self-reconfigurable robot patents
should be invented.