Recent Patents for Modular Self-Reconfigurable Robot

Author(s): Ye Dai*, Zhaoxu Liu, Hanbo Zhang, Yunshan Qi

Journal Name: Recent Patents on Mechanical Engineering

Volume 12 , Issue 4 , 2019

Become EABM
Become Reviewer


Background: Modular self-reconfigurable robot is a hot topic in current robotics research, the modular self-reconfigurable robot is composed of several modules with certain autonomous ability and perceptual ability. Through mutual docking and assembly, the overall configuration is changed to achieve different moves and operation functions. Compared with the traditional robot, it has strong adaptability to the environment and the ability to deal with changeable tasks.

Objective: The recent modular self-reconfigurable robot is summarized, and its structure, characteristics and development are introduced.

Methods: This paper summarizes the patents and research progress of modular self-reconfigurable robot, and introduces the current development of modular self-reconfigurable robot from the aspects of structure features, docking methods, driving types and applications.

Results: This paper classifies the structural features, docking methods and driving types of various modular self-reconfigurable robots, summarizes the typical features, and discusses the current and future development of modular self-reconfigurable robots.

Conclusion: Modular self-reconfigurable robot is a new subject in the field of robotics research in recent years. Through the docking among a large number of unit modules which changes the overall configuration, extends the motion form and realizes different motion gait, modular self-reconfigurable robot can replace traditional robot to complete the work in a complex environment, which is of great significance to the development of robot. Therefore, more modular self-reconfigurable robot patents should be invented.

Keywords: Connecting mechanism, independent connection, module design, robot, self-reconfigurable, unit module.

Liu CY. Modular robot for rapid test evolution.PhD Dissertation, China University of Mining and Technology. Beijing, China March 2018.
Zhao T. Research on self-reconstruction strategy of space deformation line of modular robot.MSc Dissertation. Tianjin University of Technology, Tianjin, China January 2015.
Wang TR. The development of robotics. J Robot 2017; 39(4): 385-6.
Wu WQ, Zhang CL, Yue X, Zhou C, Xie JL. Design of reconfigurable modular robot teaching system. J Guangzhou Univ (Nat Sci Edit) 2017; 16(4): 65-70.
Liu Y, Sha B, Liu JG, Liu CY, Yan S. The second generation of modular robot EMERGE. J Sci Technol Eng 2019; 19(7): 120-5.
Hu YN, Ma SG, Li B, Wang MH, Wang YC. Efficient reconstruction planning method for mobile modular robot. J Robot 2016; 38(4): 467-74.
Lin KW. Reconfigurable modular robot control based on ROS.MSc Dissertation. Guangdong University of Technology. Guangzhou, China May 2017.
Yuan CW, Chen G, Zhang WJ. Design and analysis of under-actuated resilient robot. J Mech Des Res 2017; 33(3): 35-9.
Tang Y. Structural design and reconstruction strategy of chain 4- dof robot.Harbin Institute of Technology. Harbin, China June 2017.
Romanishin JW, Gilpin K, Claici S, Rus D. 3D M-Blocks: Selfreconfiguring robots capable of locomotion via pivoting in three dimensions.2015 IEEE International Conference on, IEEE. Seattle, WA, USA May 2015.
Jiang DS. Study on self-reconfigurable module robot for space solar array self-repairing.MSc Dissertation. Shanghai Jiaotong University, Shanghai, China February 2011.
Sun XY. Research on the design and strategy of self-reconfigurable robot unit module.Sc Dissertation. Tianjin University of Technology, Tianjin, China February 2016.
Sun BL. Design of mixed reconfigurable robot with wheel arm and development of prototype.MSc Dissertation,. Zhejiang Sci-Tech University, Hangzhou, China December 2014.
Wang XL. Research on coordinated motion planning and evolution of motion ability of modular robots.PhD Dissertation. Harbin Institute of Technology, Harbin, China June 2016.
Baca J, Woosley B, Dasgupta P, Nelson C. Real-time distributed configuration discovery of modular self-reconfigurable robots.2015 IEEE International Conference on Robotics and Automation (ICRA). Seattle, WA, USA May 2015; pp. 1919-24.
Feng HJ, Miao Q, Fan SQ, Wang HL. Modular design of mechanical structure of industrial robot. J Mech Eng Auto 2019; 2: 100-1.
Tosun T, Davey J, Liu C, Yim M. Design and characterization of the EP-Face connector.IEEE/RSJ International Conference on Intelligent Robots and Systems. Daejeon, South Korea October, 2016.
Wang XF, Zhang ML, Ge WM. Research on automatic modeling of reconfigurable robot dynamics. J Agric March 2015; 355-61.
Xiali L, Tianyi L, Wu L. Kinematics simulation for a new kind of underactuated robotic finger. Int J Model Simul 2017; 37(4): 234-40.
He CL, Zhong M, Yao YF. Micro and small self-reconfigurable mobile robot based on infrared positioning. J Mach Elec 2016; 34(9): 69-72.
Jing G, Tosun T, Yim M, Kress-Gazit H. An end-to-end system for accomplishing tasks with modular robots. In: Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence. Melbourne, Australia June 2017.
Castano A, Behar A, Will PM. The Conro modules for reconfigurable robots. IEEE-ASME T Mech 2002; 7(4): 403-9.
Wei H, Cai Y, Li H, Li D, Wang T. Sambot: A self-assembly modular robot for swarm robot.IEEE International Conference on Robotics and Automation. Anchorage, AK, USA May 2010.
Chen S. Study on the process of self-reconfigurable of space cellular robot.MSc Dissertation. Harbin Institute of Technology, Harbin, China June 2017.
Stoy K. Reconfigurable Robots//KACPRZYK J, PEDRYCZ W. Springer Handbook of Computational Intelligence.. Springer Berlin Heidelberg 2015; pp. 1407-21.
Bie DY. Research on distributed deformation strategy of modular self-reconfigurable robot.PhD Dissertation. Harbin Institute of Technology, Harbin, China December 2017.
Zhao J, Tang SF, Zhu YH, Cui XD. Modular self-reconfiguration robot based on universal joint. J Robot 2010; 32(5): 608-13.
Wang T, Li H, Meng C. Collective grasping for non-cooperative objects using modular self-reconfigurable robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Hamburg, Germany. September-October 2015.
Wang W, Zhang HX, Deng ZC, Zong GH, Fu HL. Self-reconfigurable mobile robot based on series and parallel mechanism. Chin J Mech Eng 2008; 5: 92-101.
Ahmadzadeh H, Masehian E. Modular robotic systems: Methods and algorithms for abstraction, planning, control, and synchronization. J Artif Intell 2015; 223: 27-64.
Ahmadzadeh H, Masehian E, Asadpour M. Modular robotic systems: Characteristics and applications. J Intell Robot Syst 2016; 81(3-4): 317-57.
Cui XD. Modular self-reconfigurable robot bionic motion planning and control.PhD Dissertation. Harbin Institute of Technology, Harbin, China December 2013.
Zhao J, Zhang YQ. Modular design of typical components of long-stroke truss robot. J Shenyang Univ Aeronaut Astronaut 2008; 35: 35-40.
Liu JM, Wang L, Wang HM, Wei Y, Zheng JJ. Modular design of intelligent robot. J Sci Technol Outlook 2016; 26(27): 118-9.
Zhang FY, Wang S. Design of modular robot servo unit bus access module. J Huazhong Univ Sci Technol (Nat Sci Edit) 2011; 39(S2): 392-4.
Wang Y. The configuration and kinematics design of the reconfigurable modular robot.MSc Dissertation. Xihua University, Chengdu, China May 2016.
Fei YQ, Xia ZX, Dong QL, Xia P. All-gear transmission mechanism drives the self-reconfigurable robot with six rotating surfaces of the module CN1775489 . (2005).
Xia P, Zhu XW, Fei YQ. A new kind of self-reconfigurable robot. J Shanghai Jiaotong Univ 2006; 3: 431-4.
Fei YQ, Wang Y, Son LB, Wang HG. The docking process of the modular robot of mesh type self-reconfiguration. Chin J Mech Eng 2011; 47(7): 31-7.
Zhao J, Tang SF, Zhu YH, Liu YB. A universal modular self-reconstruction robot based on dual rotational freedom CN101314226 . 2008.
Mao X, Chen HQ, Zhu YH, Wang AH. Exploration on the design of modular autonomous shape-shifting robot. J Des 2019; 6: 88-91.
Tang SF, Zhu YH, Zhao J, Zhang YH. A new type of self-reconfigurable robot hook-claw connection mechanism. J Jilin Univ 2010; 40(4): 1086-90.
Zhao J, Zhao J, Zhang YH, Cai HG. Design and implementation of a modular self-reconfiguration robot. Mach Tool Hyd 2007; 3: 51-3.
Song GM, Qiao GF, Zhang J, Sun HT, Li Z, Song AG. A modular self-reconfigurable robot unit module CN102416626. (2011).
Qiao GF, Song GM, Zhang Y, Sun HZ, Wei Z. Design of a novel modular self-reconfigurable robot capable of self - turning. J Southeast Univ 2016; 32(3): 293-300.
Qiao GF. Study on bionic motion control of self-reconfigurable robot in unstructured environment.PhD Dissertation. Southeast University, Nanjing, China December 2015.
Zhou XL. The design and implementation of a reconfigurable robot development kit.MSc Dissertation. Beijing University of Posts and Telecommunications, Beijing, China March 2018.
Fang Z, Cai TY, Wang LY. A modular reconfigurable multifunctional education robot CN101369385. (2008).
Zhang YH, Zhu YH, Zhao J, Ren ZW. Design and motion planning of modular self-reconfigurable robot. J Jilin Univ (Eng Sci Ed) 2007; 4: 925-9.
Ge WM, Wang XF, Liu ZM, Gou KY, Lai SY, Huang J. Self-reconfigurable unit module with independent motion CN1047421117. (2015).
Ge WM, Zhang HJ, Wang XF, Lei YL. Kinematics analysis and obstacle crossing simulation of self-reconfigurable robot deformation process. J Chin Mech Eng 2014; 25(19): 2608-13.
Su SC, Fei YQ, Shen GX, He WK, Song LB. Internal and external grab self-reconfigurable robot and its unit module CN106272385. (2016).
Fei YQ, Yang W. A novel hybrid self-reconfigurable modular robot structure description. J Shandong Univ Sci Technol 2012; 31(4): 51-5.
Su SC, Fei YQ. Research on hybrid self-reconfigurable modular robot docking system. J Mech Des 2018; 35(3): 1-6.
Yuan CW, Chen G, Liu JK, Yan ZG. Self-reconfigurable robot connection device CN1063931679. (2016).
Liu JG, Wang XF, Liu Y, Liu CY. Dynamic motion planning of modular robot system with ring configuration. J Mech Des Manuf 2018; 9: 61-3.
Wang XF, Liu JG, Liu Y, Liu CY. Research on topology method of modular robot configuration. J Modul Mach Tool Auto Process Technol 2018; 6: 39-41.
Yuan CW. Design of the elastic robot module and the self-repairing action plan.MSc Dissertation. Donghua Univserity, Shanghai, China June 2017.
Liu CY, Liu JG, Liu Y. An open modular self-reconfigurable robot. J Modular Mach Tools Auto Proc Technol 2018; 2: 26-9.
Yan ZG. Structure optimization design and hardware realization of the resilient robot module.MSc Dissertation. East China University of Science and Technology. Shanghai, China April 2018.
Liu YJ, Yu MJ. Self-reconfigurable robot cell module CN206869882. (2017).
Liu YJ, Yu MJ, Ye ZP, Wang CL. A review of path planning methods for self-reconfigurable modular robot. J Chin Sci Info 2018; 48(2): 143-76.
Gerstmayr J, Pieber M. Modular self-reconfigurable robot system.CN2017060258. (2017).
Valente A, Brugnetti I, Colla M. Modular robotic joint and reconfigurable robot made using the same.EP3372354. (2018).
Faina A, Bellas F, Orjales F, Souto D, Duro RJ. An evolution friendly modular architecture to produce feasible robots. J Robo Auto Syst 2015; 63: 195-205.
Gregg R, Dawei D. Autonomous modular robot US10180685. (2019).
Peidro Vidal A, Reinoso Garcia O, Marin Lopez JM, et al. Robotic module and modular robot comprising said robotic module WO2018178458. (2018).
Xia ZX. Study on structural design and self - deformation methods of modular self-reconfigurable robot.MSc Dissertation. Shanghai Jiaotong University, Shanghai, China February 2007.
Mantzouratos Y, Tosun T, Khanna S, Yim M. On embeddability of modular robot designs. 2015 IEEE International Conference on Robotics and Automation (ICRA) Seatle, WA, USA. May 2015.
Zhang ZQ. PowerCube reconfigurable modular robot research.MSc Dissertation. Xihua University, Chengdu, China May 2008.
Liu MY, Tan DL, Li B. Current situation and development of reconfigurable modular robot. J Robot 2001; 3: 275-9.
Tzeranis D, Ishijima Y, Dubowsky S. Manipulation of large flexible structural modules by robots mounted on large flexible structures. Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS Munich, Germany. September, 2005.
Zhang Y, Song GM, Liu SS, Qiao GJ. A modular self-reconfigurable robot with enhanced locomotion performances: Design, modeling, simulations, and experiments. J Intell Robot Syst 2016; 81: 377-93.
Zhao J, Zhang YH, Zhu YH, Ren ZW, Cai HG. Motion control of modular self-reconfigurable robot worm configuration. J Southeast Univ 2007; 3: 409-13.
Zhao J, Zhang L, Yang D, Cai HG. Research and development status of self-reconfigurable module robot. J Chin Mech Eng 2002; 17: 91-5.
Wang B, Jiang Z. An overview of the status and development of modular reconfiguration robotics. J Mech Elec Eng 2008; 5: 1-4.
Fei YQ, Xia ZX, Xia P. Design and analysis of basic module structure of self-reconfiguration robot. J Chin Mech Eng 2007; 9: 1085-8.
Zuo QX, Peng Q, Ma Q. Design and development of modular robot. J Elec World 2015; 21: 99-111.

Rights & PermissionsPrintExport Cite as

Article Details

Year: 2019
Page: [279 - 289]
Pages: 11
DOI: 10.2174/2212797612666190906153526
Price: $25

Article Metrics

PDF: 14