Modular self-reconfiguring robots are composed of individual modules that can disconnect and reconnect to change the robot's morphology, structure, and functionality. The modules contain actuators and docking interfaces to transfer forces, power, and communication. There are two main architectural approaches - lattice architecture arranges modules on a grid, while chain architecture allows direct connections without a grid. Applications include space exploration, telepresence robots, and configurable tools. Advantages are lower costs through mass production and functional versatility, while disadvantages include inferior performance for specific tasks and increased complexity. Future developments could realize greater benefits in flexibility and functionality.

1. Self Reconfiguring Modular Robot
VIJAY N
1St10EC426
Sambhram Institute of Technology

2. Contents
• Introduction
• Structure
• History
• Application areas
• Advantages and Disadvantages
• Future
• Conclusion
• References

3. Introduction
• Modular self-reconfiguring robotic systems or self-
reconfigurable modular robots are autonomous
kinematic machines with variable morphology, structure,
and functionality.
• This is achieved through individual modules which can
disconnect and reconnect to each other and assemble into a
larger robot.

4. Structure
• Modular robots are usually composed of multiple building
blocks of a relatively small repertoire, with uniform docking
interfaces that allow transfer of mechanical forces and
moments, electrical power and communication throughout
the robot.
• The modular building blocks usually consist of some
primary structural actuated unit, and potentially additional
specialized units such as grippers, feet, wheels, cameras,
payload and energy storage and generation.

6. Structural Architecture
• Modular self-reconfiguring robotic systems can
be generally classified into several architectural
groups by the geometric arrangement of their
unit.
▫ Lattice architecture.
▫ Chain architecture.

7. Lattice Architecture
• This
architecture have
their units
connecting their
docking interfaces
at points into
virtual cells of some
regular grid.

8. Chain Architecture
• This architecture does not use a virtual network
of docking points for their units. The units are
able to reach any point in the space directly.

9. History
• The roots of the concept of modular self-
reconfigurable robots came in 1970’s, but the
actual first model was created during
1980’s(CEBOT).
• However, the revolution in this field happened
from past 2, 3 years.

10. M-TRAN III (2005)
• A hybrid type self-reconfigurable system. Each
module is two cube size (65 mm side), and has 2
rotational DOF and 6 flat surfaces for
connection.

11. The Distributed Flight Array (2009)
• The Distributed Flight Array is a modular robot
consisting of hexagonal-shaped single-rotor
units that can take on just about any shape or
form.

12. Moteins (2011)
• Moteins employ shape-universal folding
strategies, with one or two degrees of freedom
and simple actuators with only two or three
states.

13. Application Areas
• Space exploration
• Telepario
• Bucket of stuff

14. Space Exploration

15. Telepario
• What the researchers propose to make are
moving, physical, three-dimensional replicas of
people or objects, so lifelike that human senses
would accept them as real.

16. Bucket of Stuff
• In this vision, consumers of the future have a
container of self-reconfigurable modules, when the
need arises, the consumer calls forth the robots to
achieve a task.

17. Advantages and Disadvantages
• Advantages
 Economic advantage : Self reconfiguring
robotic systems can potentially lower overall
robot cost by making a range of complex
machines out of a single (or relatively few)
types of mass-produced modules.

18. ▫ Functional advantage : The reconfiguration ability allows a
robot or a group of robots to disassemble and reassemble
machines to form new morphologies that are better suitable for
new tasks, such as changing from a legged robot to a snake robot
and then to a rolling robot.

19. Disadvantages
• A modular robot is likely to be inferior in
performance to any single custom robot tailored
for a specific task.
• The added degrees of freedom make modular
robots more versatile in their potential
capabilities, but also incur a performance
tradeoff and increased mechanical and
computational complexities.

20. Future Developments

21. References
• Self-Reconfigurable Robot: Shape-Changing Cellular
Robots Can Exceed Conventional Robot Flexibility, by
Murata & Kurokawa.
• Self Reconfiguring Modular Robotics Essentials, Popular
science Introduction to SRCMR fundamentals
and some of the profound consequences it will have.
• ^ "Modular Reconfigurable Robots in Space Applications”
(http://www2.parc.com/spl/projects/modrobots/publicati
ons/pdf/space.pdf) (PDF).

22. Conclusion
• Self reconfigurable modular robot are kind of
miniaturized robots which all together can
group-up and form a bigger and better robot for
any desired application.

23. THANK YOU