Abstract

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.

Keywords: Connecting mechanism, independent connection, module design, robot, self-reconfigurable, unit module.