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A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
A novel modular self-reconfigurable robot called UBot is presented. This robot consists of several standard modules. The module is cubic structure based on double rotational DOF, and has four connect-ing surfaces that can connect to adjacent modules. A hook-type mechanism is designed, which can quick-ly and reliably connect to or disconnect from adjacent modules. This mechanism is self-locking after con-nected, and energy- saving. To achieve small overall size and mass, compact mechanical structures andelectrical systems are adopted in modular design. The modules have embedded power supply and adoptwireless communication, which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration. A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and places. The basic motion and self-re-configuration are proposed, and the experiments of worm-like locomotion are implemented.