Simulation of self- reconfiguration

 A group of many modules can reconfigure into several static structures and can realize some dynamical motions as a whole.

We have developed a motion simulator for this modular robot and designed several motions.  The following is an example where a quadruped walking robot is generated from a block structure of many modules (Motion picture mpeg: 7.8MB, Realmedia: 2.2MB).

 

Initial configuration (block structure)	Reconfiguration and assembling of the crawler robot		Disconnection of the crawler robot

Crawler motion	Reconfiguration to the quadruped robot	Quadruped walking