Analysis and research on motion patterns of modular reconfligurable robotics system

Abstract

Modular reconfigurable robotics system is an approach to building robots for various complex tasks. Modularreconfigurable robots show the promise of great versatility, robustness and low cost. They can be used extensively to meet the demands of diferent tasks or diferent working environments. They can change their shapes, such as j?om snake Jrst to loop and next to quadruped and so on. Therefore they can travel over or through obstacles, and go though small pipe. Even they can walk somewhat like a person on crutches, two legs moving at a time. They can accomplish multiple dificult tasks that other kind of robots cannot do. The quantity of the motion pattern will decide the adjustable ability of modular reconfigurable robotics system. This paper presents four kinds of motion patterns of modular reconjgurable robotics system. Each motor k motion law in diferent state is discussed in detail.