Concept of self-reconfigurable modular robotic system

We present a concept of novel self-reconfigurable robotic system made of ho mogeneous autonomous robotic modules. Each robotic module has only two DOF, however a group of this module is able to change its connective configurat ion by changing their local connections. A cluster of the modules, thus can metamorphose into arbitrary configuration according to the surrounding env ironment or desired specification. Not only this ability of structural meta morphosis, the combined modules have functionality of robotic system which is capable of generating complicated motion. (C) 2001 Elsevier Science Ltd. All rights reserved.