UBot: a new reconfigurable modular robotic system with multimode locomotion ability

摘要

Purpose - The purpose of this paper is to introduce the design and the multi-mode locomotion function of the new reconfigurable modular robotic system - UBot system - which combines the advantages from the chain-based and lattice-based self-reconfigurable robots. Design/methodology/approach - The UBot modules the authors have designed are based on the universal joint and of cubic shape with two rotational joints and reliable automatic connecting mechanism. The modules are compact and flexible enough for locomotion and reconfiguration. The system can move in different modes to satisfy different terrains, through changing the modules' local connections and rotation of modules' joints. Findings - The UBot system can flexibly move in the modes of cross, loop, quadruped, snake-type and other type of locomotion modes. All the locomotion has been implemented in the physical experiments. Originality/value - The UBot module is the new reconfigurable module which has two joints in one unit of regular cubic space and four reliable automatic connecting surfaces. A group of the modules is able to change its connective configuration by changing their local connections and has functionality of the corresponding traditional robotic system. Since it can travel through terrains that may not be fully characterized ahead of time, the system can be used in a large variety of tasks, such as transportation, assembly, inspection and exploration.