This paper addresses the issue of developing a motion planning algorithm for a general class of modular mobile robots. A modular mobile robot is essentially a reconfigurable robot system in which locomotive modules such as legs, wheels, propellers, etc. can be attached at various locations on the body. The equations of motion for the robot are developed in terms of a set of generalized inputs r...

The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the Cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot Cube-M with one degree of freedom, an improved version of the Y1 ...

To open up a highly expanded functionality in direct cooperation with humans regarding mobile service and assistance robotics applications, as well as new applications in the field of automation in industries, the new biologically inspired, lightweight and elastic robot arm “BioRob” offers a new kind of human machine interaction. The functional principle of the robot arm permits the system to a...

The ability of self-reconfigurable robots to solve a variety of robot tasks comes in part from their use of a large number of modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm was developed fo...