The paper introduces a concept of flexible self-reconfiguration that makes use of thermoplastic adhesives (TPAs) in robotic systems. TPAs are polymer-based materials that exhibit several interesting mechanical properties beneficial for self-reconfiguration. For example, thermoplasticity enables robots to flexibly fabricate a number of different mechanical structures, while temperature-dependent adhesion allows systems to make robust connection and disconnection. This paper introduces robotic self-reconfiguration by using three TPA handling processes, i.e. structure formation, connection and disconnection. These processes are then examined in a few practical application scenarios, i.e. pick and place operations of a variety of objects, autonomous body extension of robotic manipulators, and robots climbing on uneven surfaces. And finally we discusses challenges and perspectives of this approach.
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