Design and Realization of a Modular Self-reconfigurable Robot

The design and realization of a new modular self-reconfigurable robot were introduced,including the design of modular structure and the design of software and hardware of the control system.The contact sensor and wireless network of communication were added to the HitMSRII on the basis of HitMSRI.A new detachable and connectible mechanism which possesses both of the reliability of the peg and hole mechanism and the agility of the plane mechanism was designed.Changing centralized control method to the centralized combining with distributed control method,HitMSRII can collect the whole information of the robot automatically without accessional sensors.Compared with HitMSRI,HitMSRII is smaller and lighter,and the capability of drive is stronger as well as the capability of communication.