A self-reconfigurable modular robot (MTRAN) - Hardware and motion planning software

In this paper, we present our latest modular robot "MTRAN" (Modular Transformer) and its motion planning algorithm based on a four-module block method. The developed module is composed of two semi-cylindrical parts connected by a link. Each part has three connecting surfaces where another module can be connected by magnetic force. Each module has only two degrees of freedom, but a group of modules can not only configure static 2-D or 3-D structures but also generate robotic motions. We realized several robotic motions and transformations by using several modules. Block motions prepared by a proposed motion planner are also verified by hardware experiments.