Nested Reconfigurable Robots: Theory, Design, and Realization

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Title: Nested Reconfigurable Robots: Theory, Design, and Realization
Authors: Tan, N
Rojas, N
Elara Mohan, R
Kee, V
Sosa, R
Item Type: Journal Article
Abstract: Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigur ability of the proposed module.
Issue Date: 14-Jul-2015
Date of Acceptance: 9-Feb-2015
ISSN: 1729-8814
Publisher: SAGE Publications
Journal / Book Title: International Journal of Advanced Robotic Systems
Volume: 12
Issue: 7
Copyright Statement: © 2015 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Keywords: 08 Information And Computing Sciences
09 Engineering
17 Psychology And Cognitive Sciences
Open Access location:
Article Number: 110
Appears in Collections:Dyson School of Design Engineering

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