Design and implementation of a new intelligent modular reconfigurable robot

This paper presents the design and implementation of a novel modular reconfigurable robot called Xmobot. A single module of Xmobot with 5 controllable DOFs can move independently. Multiple modules can be assembled into different configurations through the 6 docking faceplates. The mechanical design of a rotation joint is proposed to achieve precise angle adjusting in the self-assembled process. The geometry of four gait modes and single module status switching are discussed. Several experiments were done to evaluate the performance of the locomotion capacity. Due to the two different statues of the middle joint, Xmobot module can implement four kinds of rectilinear motion. The maximum moving speed of rectilinear motion can reach 5.5cm/s. The first gait mode can get the efficiency of 83%. Three rotation motions are performed to implement angle adjusting and the middle joint rotating method is the most effective, where the angle error is about 2°.