Automated Reconfiguration of Modular Robots Using Robot Manipulators

Self-reconfigurability in modular robots is a challenging task that usually requires complex module designs and algorithms. To make the reconfigurability easier, unpowered permanent magnet-based modules can be reconfigured by an external robotic manipulator. These modules are, thereby, not dependent on each separate module's inclusion of batteries and control circuitry since they can be reconfigured in their unpowered state, and the reconfiguration movements are not restricted to the kinematic chain of the modular robot. In this paper, we discuss how we can utilize an active or passive gripper to assemble and disassemble modular robots. We furthermore demonstrate that the use of fiducial markers allows the robot arm to accurately pick and place the modules to reconfigure the morphologies. The utilization of robotic arms and a visual feedback system allows us to quickly create robot morphologies from modules, which can be evaluated in the real world and then reshaped using the same components. This technique is especially valuable to enable the rapid generation and evaluation of robot morphologies in the real world that would traditionally need to be reconstructed or reassembled with complex modules or complex attachment mechanisms.