Selecting a meta-module to shape-change the ATRON self-reconfigurable robot

The ATRON self-reconfigurable robot consists of simple one degree of freedom ATRON modules. The motion capabilities of an individual module are therefore quite limited. To compensate for this, meta-modules composed of more than one module are used to shape-change the system. Meta-modules emerge from the environment created by other modules, move on the surface of other modules and stop at a new position. The flow of meta-modules, from one place to another on the structure of modules, realizes the desired self-reconfiguration. In this paper we compare six different meta-module types composed of ATRON modules. Variations of meta-module morphology and meta-actions are investigated for its ability to shape-change the robot. We conclude that two of the investigated meta-module types are able to shape-change the robot to an acceptable extent