Self-reconfiguration planning of self-reconfigurable robot based on Windmill-like crystal cell group

Motion and self-reconfiguration are basic abilities of modular self-reconfigurable robot (MSR), most MSRs´ unit modules do not have these abilities. Therefore, Windmill-like crystal cell group (WLCCG) is designed and have the abilities of moving, self-reconfiguring, changing azimuth of the other modules and carrying other modules. The motion is similar to the molecular motion. Thus the reconfiguration processes from initial configuration which are constructed by 24 modules to “H” configuration can be realized. In the process of planning the sequence of module connecting, disconnecting and rotating, the paper found that the robot configuration made of four WLCCGs can realize reconfigurable moving function. The algorithm based on the gradient of the potential field is used in planning the moving path of robot composed of WLCCGs. The actions of robot are realized by fixed motion sequence database.