Efficient Locomotion for a Self-Reconfiguring Robot

In this paper we describe a modular self-reconfiguring robot composed of Molecule robot modules. We present the architecture of this robot and discuss how self-reconfiguration can be used as a locomotion gait for this system. We present two types of locomotion algorithms for this robot: a statically stable tumbling algorithm and a dynamically stable algorithm that achieves locomotion by modifying the center of mass of the robot. For each algorithm we analyze the efficiency of the self-reconfiguration gait for locomotion. Finally we present experimental data for the tumbling algorithm implemented on a four-module Molecule robot.