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Reconfigurable Robots

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Springer Handbook of Computational Intelligence

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Abstract

Reconfigurable robots are robots built from mechatronics modules that can be connected in different ways to create task-specific robot morphologies. In this chapter we introduce reconfigurable robots and provide a brief taxonomy of this type of robot. However, the main focus of this chapter is on the four most important challenges in realizing reconfigurable robots. The first two are mechatronics challenges, namely the challenge of connector design and energy. Connectors are the most important design element of any reconfigurable robot because they provide it with much of its functionality, but also many of its limitations. Supplying energy to a connected, distributed multi-robot system such as a reconfigurable robot is an important, but often underestimated problem. The third challenge is distributed control of reconfigurable robots. It is examined both how reconfigurable robots can be controlled in static configurations to produce locomotion and manipulation and how configurations can be transformed through a self-reconfiguration process. The fourth challenge that we will discuss is programability and debugging of reconfigurable robot systems. The chapter is concluded with a brief perspective. Overall, the chapter provides a general overview of the field of reconfigurable robots and is a perfect starting point for anyone interested in this exciting field.

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Abbreviations

CEBOT:

cellular robot

LED:

light emitting diode

ROS:

robot operating system

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Authors and Affiliations

  1. IT University of Copenhagen, Rued Langgaards Vej 7, 2300, Copenhagen S, Denmark

    Kasper Støy

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  1. Kasper Støy
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Correspondence to Kasper Støy .

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  1. Systems Research Inst., Polish Academy of Sciences, ul. Newelska 6, 01-447, Warsaw, Poland

    Janusz Kacprzyk

  2. Dep. Electrical and Computer Engineering, University of Alberta, 116 Street 9107, T6J 2V4, Edmonton, Alberta, Canada

    Witold Pedrycz

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Støy, K. (2015). Reconfigurable Robots. In: Kacprzyk, J., Pedrycz, W. (eds) Springer Handbook of Computational Intelligence. Springer Handbooks. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43505-2_73

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  • DOI: https://doi.org/10.1007/978-3-662-43505-2_73

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