Towards a 3-DOF mobile and self-reconfigurable modular robot
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Abstract
This paper presents early work on a new self-reconfigurable modular robot capable of independent locomotion.
The prototype features three degrees of freedom, creating a spherical joint, and houses four connection surfaces allowing it to form arbitrary cubic lattice structures.
The design is built around the recent HiGen connector, allowing for single-sided disconnect and enabling modules to rotate freely in place within a lattice position.
Paper
IROS 2014 Workshop on Modular and Swarm Systems
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