Em-cube: cube-shaped, self-reconfigurable robots sliding on structure surfaces

Many previous works simulate cube-shaped modular robots to explain their systems and algorithms. This paper explores a cube-shaped, self-reconfigurable system composed of EM-Cube robot modules. The paper describes the system´s design, implementation, movement algorithms, and experimentation. It reports on the hardware and software, and presents the algorithms of linear walking, convex and concave transition, and locomotion. Finally, it discusses EM-Cube locomotion experiments.