Motion Control of a Self-Reconfigurable Modular Robot System

The self-reconfigurable modular robot system consists of many identical modules. By changing the connections among modules, the whole structure of the robot system can transform into arbitrary other structures. First, the basic configuration of the modules is analyzed with the eigenvector matrix. Second, the motion rules are proposed. Then, the motion control is described with the driving function and the adjacency matrix that is effective for solving the computation problem and optimizing the motion paths of the robot system during the self-reconfigurable process. Finally, a simulation is shown to prove that the analyses are effective.