Control strategies and design guidelines for planar latch-less metamorphic robots based on analysis of dynamics

Modular robotic systems with no fixed mechanical contacts have the ability to adopt and reconfigure very rapidly, but are very difficult to control dynamically. Moving module solely with electro-magnetic or -static forces can lead to unwanted slipping or even loss of contact. This paper presents a strategy to design controller for such modules based on the limits derived by combining the contact constraints and the actuator saturation. We demonstrate the design of a simple but effective controller for two module motions. We also present guidelines for the design of the modules based on the controller limitations.