Modular Reconfigurable Robotics
- Seo, Jungwon Department of Mechanical and Aerospace Engineering and Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China;
- Paik, Jamie Reconfigurable Robotics Laboratory, École Polytechnique Fédérale de Lausanne (EPFL), 1015 Lausanne, Switzerland;
- Yim, Mark General Robotics, Automation, Sensing, and Perception (GRASP) Laboratory, University of Pennsylvania, Philadelphia, Pennsylvania 19104, USA;
Published in:
- Annual Review of Control, Robotics, and Autonomous Systems. - Annual Reviews. - 2019, vol. 2, no. 1, p. 63-88
English
This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.
- Language
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- English
- Open access status
- green
- Identifiers
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- DOI 10.1146/annurev-control-053018-023834
- ISSN 2573-5144
- Persistent URL
- https://sonar.ch/global/documents/230758
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