Reconfigurable robotic system with independently mobile modules

M. Kutzer, C. Brown, D. Scheidt, M. Armand, K. Wolfe, M. Moses, G. Chirikjian

Research output: Contribution to journalArticlepeer-review


A study was conducted to demonstrate a new self-reconfigurable robot system that was capable of building multiple structures from a simple and independently mobile unit. Modules in the system were mechanically homogeneous, with three identical docking mechanisms within a module. Each mechanical dock was driven by a high-torque actuator to enable movement of large segments within a multimodule structure and low-speed driving. The unique module geometry and the docking requirements produced a new variant of the classical model of a kinematic cart. The control of the nonholonomic system needed to account for the position and the orientation of the module in plane and for one of the two internal states.

Original languageEnglish (US)
Pages (from-to)270-271
Number of pages2
JournalJohns Hopkins APL Technical Digest (Applied Physics Laboratory)
Issue number3
StatePublished - Mar 16 2010

ASJC Scopus subject areas

  • Engineering(all)
  • Physics and Astronomy(all)

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