Design and implementation of UBot: A modular Self-Reconfigurable Robot

The design and implementation of a novel modular Self-Reconfigurable Robot (SRR) called UBot is reviewed in this paper. Firstly, the philosophy of hardware design is presented. The module is designed with criteria such as cubic-shape, homogeneity, and strong connections to fulfill the requirements of complex three-dimensional reconfiguration and locomotion. Each robotic module has two degrees of freedom and four connecting surfaces with hook-type connecting mechanism. A group of modules can transform between different configurations by changing their local connections, achieve complicated modes of motion and accomplish a large variety of tasks. Secondly, a 3D dynamics simulator for UBot SRR is developed, where robot locomotion and transfiguration simulation could be done. A worm-like robot evolution is performed with results of a variety of high-performance locomotion patterns. Finally, Experiments are performed about autonomous docking, multi-mode locomotion and self-reconfiguration. The validity of docking method, CPG-network control and reconfiguration planning method is verified through locomotion and transformation tests of configurations such as snake-type, quadruped walking-type, omni-directional cross-type and loop-type.