Self-reconfigurable robots are built from modules, which are autonomously able to change the way they are connected. Such a robot can, through this self-reconfiguration process, change its shape. The process has proved to be difficult to control, because it involves control of a distributed system of mechanically coupled modules connected in time-varying ways. In this paper we present an approa...

Modular self-reconfigurable robots consist of large numbers (hundreds or thousands) of identical modules that possess the ability to reconfigure into different shapes as required by the task at hand. For example, such a robot could start out as a snake to traverse a narrow pipe, then re-assemble itself into a six-legged spider to move over uneven terrain, growing a pair of arms to pick up and m...

Self-reconfigurable robots are built from modules, which are autonomously able to change the way they are connected. Such a robot can, through this self-reconfiguration process, change its shape. The process has proven to be difficult to control, because it involves control of a distributed system of mechanically coupled modules connected in time-varying ways. In this paper we present an approa...

Abstract A spring-assisted modular and reconfigurable robot (SA-MRR) has been recently developed at our laboratory to reinforce its performance enable safe dexterous operation in human–robot environments. Multiple working mode (MWM) control enables each SA-MRR joint module switch independently between a primary actuation secondary, that may improve task-specific energy measures safety variety o...

The distinguishing property of Reconfigurable Manufacturing Systems (RMS) is that they can rapidly and efficiently adapt to new production requirements, both in terms their capacity functionalities. For this type systems achieve the desired efficiency, it should be possible easily quickly setup reconfigure all components. This includes fixturing jigs are used hold workpieces firmly place enable...