A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning

In this manuscript, we discuss I-Cubes, a class of modular robotic system thatis capable of reconfiguring itself in 3-D to adapt to its environment. This is abipartite system, i.e., a collection of (i) active elements for actuation, and (ii)passive elements acting as connectors. Active elements (links) are 3-DOFmanipulators that are capable of attaching/detaching from/to the passive elements(cubes), which can be positioned and oriented using links. Self-reconfigurationcapability enables the system to perform locomotion tasks over difficult terrain; theshape and size can be changed according to the task. This paper describes the designof the system, and 3-D reconfiguration properties. Specifics of the hardwareimplementation, results of the experiments with the current prototypes, our approachto motion planning and problems related to 3-D motion planning are given.

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