Self-reconfigurable modular robot and its motion design

A new self-reconfigurable modular robot DL-CubeII (Double L Cube) was developed, The DL-Cube II adopted a small rotating hook connecting/disconnecting mechanism replacing internally balanced magnet mechanism in DL-Cube I. Using wireless communication between relay microcomputer and modules, the DL-Cube II has more reliable communication ability. In software, a heuristic self-reconfigurable method based module rules and macro motion was developed, it can plan robot motions with any initial configuration go forward to goal centroid location in complicated environments. Several hardware experiments and simulations were given to prove the reliability of connecting mechanism and feasibility of reconfigurable planning method.