Self-reconfiguring modular robot: Difference between revisions

Revision as of 00:11, 29 October 2006

Revision as of 01:01, 30 October 2006

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Modular self-reconfiguring robotic systems are autonomous kinematic machines with variable morphology. Beyond conventional actuation, sensing and control typically found in fixed-morphology robots, self-reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new circumstances, perform new tasks, or recover from damage.

[[Image:MITmolecules.jpg|thumb|right|A modular robot]]

==Structure and control==

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==Motivation and inspiration==

[[Image:SpaceCubes.jpg|thumb|right|Arist rendition of a Modular robots in a space mission (Victor Zykov)]]

There are two key motivations for designing modular self reconfiguring robotic systems.

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There is a growing number of research groups actively involved in modular robotics research. To date, about 30 systems have been designed and constructed, some of which are shown below.

[[Image:MITmolecules.jpg|thumb|right|MIT/Darmouth Molecule, 2000?]]

[[Image:molecube7.jpg|thumb|right|Cornell Molecubes, 2005]]

'''<Add one image of your system here. Sort by date (earlier first), add reference.>'''

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===Hardware design challenges===

[[Image:G3modthumb.jpg|thumb|right|A module of Polybot G3]]

The extent to which the promise of self-reconfiguring robotic systems can be realized depends critically on the numbers of modules in the system. To date, only systems with up to about 30 units have been demonstrated, with this number stagnating over almost a decade. There are a number of fundamental limiting factors that govern this number: