Tanbot: A Self-reconfigurable Robot Enhanced with Mobility

摘要

A mobile self-reconfigurable robot called Tanbot consisting of several mobile modules is proposed. Single module is configured from modular components that include ultrasonic sensor, camera, communication, computation, and mobility units, and capable of simple self-reconfiguration by expanding itself. Several modules link into a train or other configurations via sensors and cameras to negotiate different terrains when necessary, and disjoin to be individuals under computer control after missions. Two fully functional modules have been developed and several have been built and tested. This paper focuses on the design of the electromechanical hardware, and the imple-mentation of docking between two modules.