DESIGN OF A MODULAR SELF-RECONFIGURABLE ROBOT
Abstract: In this paper we examine the development of modular self-reconfigurable robots. A survey of existing modular robots is given. Some limitations of homogeneous design and connection mechanisms are discussed. Therefore, we propose a heterogeneous self-reconfigurable robot with genderless, fail-safe connecting mechanisms. We initially design three basic types (joint, power and special units) of module.