Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot
We designed, implemented, and tested the Roombots (RB) modular robots. We explain the RB design methodology: active connection mechanism and module. RB use locomotion on-grid (lattice-based environment), and off-grid locomotion. RB join into metamodules on-grid, and can transit from off-grid to on-grid. We demonstrate RB overcoming concave and convex edges, and climbing vertical walls.
self-reconfiguring modular robots active connection mechanism module joining module climbing grid environment homogeneous modular robotic system