Self-reconfiguring modular robot

The paper presents the development of an autonomous modular robotic chain, with self-reconfiguring skills and able to perform creeping/walking motion. The module design is presented, as well its kinematics and control system. Some movement strategies are analyzed and, for the best one, the robot model is determined, in order to evaluate its worm-like movement possibilities. The experiments on the robotic module prototype were conducted with a control system, implemented by means of a computer with I/O board and LabVIEW programming. This one communicates with the robotic module microcontroller by use of a RF transmitter-receiver pair.