A language and generalization of modular self-reconfigurable robots

This paper introduces the concept of generalizing modular self-reconfigurable robot (MSR) modules. It proposes a framework for an MSR description language (MSRDL) for the design, simulation and control of all MSRs based on the proposed concept of a generalized MSR module. Experiments have shown that the proposed language framework, instruction set and syntax are valid, feasible and effective. The developed MSRDL will contribute to the advancement of MSR research.