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Chapter 22 — Modular Robots

I-Ming Chen and Mark Yim

This chapter presents a discussion of modular robots from both an industrial and a research point of view. The chapter is divided into four sections, one focusing on existing reconfigurable modular manipulators typically in an industry setting (Sect. 22.2) and another focusing on self-reconfigurable modular robots typically in a research setting (Sect. 22.4). Both sections are sandwiched between the introduction and conclusion sections.

This chapter is focused on design issues. Rather than a survey of existing systems, it presents some of the existing systems in the context of a discussion of the issues and elements in industrial modular robotics and modular robotics research. The reader is encouraged to look at the references for further discussion on any of the presented topics.


Author  Jay Davey

Video ID : 1

SMORES robot showing self-reconfiguration. Reference: J. Davey, N. Kwok, M. Yim: Emulating self-reconfigurable robots - Design of the SMORES system, Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Vilamoura (2012), pp. 4464-4469


Author  Hod Lipson

Video ID : 2

Self-reconfiguring cubes that reproduce a chain of cubes. Reference: V. Zykov, E. Mytilinaios, B. Adams, H. LipsonRobotics: Self-reproducing machines, Nature 435, 163-164 (2005); doi:10.1038/435163a

M-Blocks: Momentum-driven, magnetic modular robots self-reconfiguring

Author  Daniela Rus

Video ID : 3

M-Blocks: momentum-driven, magnetic modular robots self-reconfiguring.

ATRON robot showing robust and reversible execution of self-reconfiguration sequences

Author  Ulrik Pagh Schultz

Video ID : 5

ATRON robot showing robust and reversible execution of self-reconfiguration sequences.