Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.

Isomers of CAl4Mg and CAl4Mg− have been theoretically characterized for the first time. The most stable isomer for both the neutral and anion contain a planar tetracoordinate carbon (ptC) atom. Unlike the isovalent CAl4Be case, which contains a planar pentacoordinate carbon atom as the global minimum geometry, replacing beryllium with magnesium makes the ptC isomer the global minimum due to increased ionic radii of magnesium. However, it is relatively easier to conduct experimental studies for CAl4Mg0/− as beryllium is toxic. While the neutral molecule containing the ptC atom follows the 18 valence electron rule, the anion breaks the rule with 19 valence electrons. The electron affinity of CAl4Mg is in the range of 1.96–2.05 eV. Both the global minima exhibit π/σ double aromaticity. Ab initio molecular dynamics simulations were carried out for both the global minima at 298 K for 10 ps to confirm their kinetic stability.

We have explored the chemical space of BAl4Mg−/0/+ for the first time and theoretically characterized several isomers with interesting bonding patterns. We have used chemical intuition and a cluster building method based on the tabu-search algorithm implemented in the Python program for aggregation and reaction (PyAR) to obtain the maximum number of possible stationary points. The global minimum geometries for the anion (1a) and cation (1c) contain a planar tetracoordinate boron (ptB) atom, whereas the global minimum geometry for the neutral (1n) exhibits a planar pentacoordinate boron (ppB) atom. The low-lying isomers of the anion (2a) and cation (3c) also contain a ppB atom. The low-lying isomer of the neutral (2n) exhibits a ptB atom. Ab initio molecular dynamics simulations carried out at 298 K for 2000 fs suggest that all isomers are kinetically stable, except the cation 3c. Simulations carried out at low temperatures (100 and 200 K) for 2000 fs predict that even 3c is kinetically stable, which contains a ppB atom. Various bonding analyses (NBO, AdNDP, AIM, etc.) are carried out for these six different geometries of BAl4Mg−/0/+ to understand the bonding patterns. Based on these results, we conclude that ptB/ppB scenarios are prevalent in these systems. Compared to the carbon counter-part, CAl4Mg−, here the anion (BAl4Mg−) obeys the 18 valence electron rule, as B has one electron fewer than C. However, the neutral and cation species break the rule with 17 and 16 valence electrons, respectively. The electron affinity (EA) of BAl4Mg is slightly higher (2.15 eV) than the electron affinity of CAl4Mg (2.05 eV). Based on the EA value, it is believed that these molecules can be identified in the gas phase. All the ptB/ppB isomers exhibit π/σ double aromaticity. Energy decomposition analysis predicts that the interaction between BAl4−/0/+ and Mg is ionic in all these six systems.

Modular robots are capable of forming primitive shapes such as lattice and chain structures with the additional flexibility of distributed sensing. The biomimetic structures developed using such modular units provides ease of replacement and reconfiguration in co-ordinated structures, transportation etc. in real life scenarios. Though the research in the employment of modular robotic units in formation of biological organisms is in the nascent stage, modular robotic units are already capable of forming such sophisticated structures. The modular robotic designs proposed so far in modular robotics research vary significantly in external structures, sensor-actuator mechanisms interfaces for docking and undocking, techniques for providing mobility, coordinated structures, locomotions etc. and each robotic design attempted to address various challenges faced in the domain of modular robotics by employing different strategies. This paper presents a novel modular wheeled robotic design -HexaMob facilitating four degrees of freedom (2 degrees for mobility and 2 degrees for structural reconfiguration) on a single module with minimal usage of sensor-actuator assemblies. The crucial features of modular robotics such as back-driving restriction, docking, and navigation are addressed in the process of HexaMob design. The proposed docking mechanism is enabled using vision sensor, enhancing the capabilities in docking as well as navigation in co-ordinated structures such as humanoid robots.

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