Modular robot based on 3 rotational DoF modules

This paper shows the advantages of having a modular system with 3-DoF spherical actuator in the base module to perform tasks that require displacement and object manipulation. Having 3-DoF actuator improves the complexity of coordination patterns and control algorithms of the modular system more relevantly as compared to having only 1 or 2DoF actuator in the module. Nevertheless, modules with actuators of only 1 or 2DoF require more modules to be assembled together in order to achieve complex tasks. Experiments performed with RobMAT modular system proves that a 3DoF actuator in the module is better, because tasks such as displacement, obstacle climbing and object manipulation, can be efficiently carried out with systems of 2 modules, 4 modules and 6 (maximum) modules connected together.