Patent ID: 8666547

Claim:
A cellular automotion unit, comprising: an actuated joint, the actuated joint having a single degree of freedom and comprising: a unit controller configured for controlling and driving actuation of the cellular automotion unit; a joint actuator, the joint actuator comprising: an inner active portion; and an outer passive portion; the inner active portion and outer passive portion together comprising a motor and being controllably rotatable relative to each other under the control of the unit controller; and a linkage element, the linkage element comprising: a main strut portion; and a joint actuator housing portion, the linkage element being connected to the joint actuator by a pin connector; wherein, when the outer passive portion of the joint actuator is inserted into the joint actuator housing portion of a second instance of the cellular automotion unit and the joint actuator housing portion is housing an actuator portion of a third instance of the cellular automation unit, the opening in the main strut portion is rotated about the axis of symmetry of the cellular automotion unit relative to the opening in the joint actuator housing portion so that the alignment of the cellular automotion unit is rotated with respect to the alignment of the second and third instances of the cellular automation unit.