🤖 Reconfigurable Robot System

What are Reconfigurable Robots?

Why revolutionary? Self-repair (broken modules disconnect), mission adaptation (snake→wheel→spider), 40+ years evolution (1985-2025), fault-tolerant (modules redundant), space applications (NASA EELS icy moon exploration)!

🎯 Simulator Tips

📚 Glossary

MSR (Modular Self-Reconfigurable Robot)

A robot system composed of multiple modules that can autonomously rearrange their connectivity to change overall shape and function

Lattice Architecture

Modules arranged in a regular 3D grid; reconfiguration happens by modules moving to adjacent grid positions (e.g., Crystalline, Telecube)

Chain Architecture

Modules connected in serial chains that can branch; offers greater workspace reach (e.g., PolyBot, M-TRAN, SMORES)

Hybrid Architecture

Combines lattice and chain features for maximum versatility (e.g., M-TRAN III, SuperBot)

Docking Mechanism

The connector system allowing modules to attach and detach — types include electromagnetic, SMA (Shape Memory Alloy), and mechanical latch

Gait

A repeating pattern of module movements that produces locomotion, such as sidewinding, caterpillar, or rolling

DOF (Degrees of Freedom)

The number of independent movements a module can make — typically 1-3 rotational axes per module

Active Skin Propulsion

Surface-mounted actuators (like rotating screws on EELS) that provide traction independent of body shape

CEBOT

Cellular Robot System — the first concept of a self-reconfigurable robot, proposed by Toshio Fukuda in 1985

🏆 Key Figures

Toshio Fukuda (1985)

Invented CEBOT (Cellular Robotic System), the world's first self-reconfigurable robot concept

Mark Yim (1998-2007)

Created PolyBot — pioneering chain-type modular robot with multiple morphologies at Xerox PARC and UPenn

Satoshi Murata (2002-2008)

Developed M-TRAN series — hybrid lattice/chain robots with 3D self-reconfiguration at AIST Japan

Hiro Ono (2019-present)

Principal Investigator of NASA JPL's EELS — autonomous snake robot for Enceladus ice vent exploration

Tin Lun Lam (2020-2024)

Created FreeBOT — freeform modular robot with arbitrary connection points, advancing MSR flexibility

Hod Lipson (2005-present)

Pioneered self-reproducing modular robots (Molecubes) and evolutionary robotics at Cornell/Columbia

💬 Message to Learners

Reconfigurable robots represent one of the most exciting frontiers in robotics — machines that can literally reshape themselves for any challenge. From the first CEBOT concept in 1985 Japan to NASA's EELS preparing to explore Saturn's moon Enceladus, this field shows how simple building blocks, when given the ability to connect and reorganize, can achieve extraordinary things. As you explore this simulator, remember: every great robot starts as a simple module with a dream of becoming something bigger. The modular robot market is projected to reach $15 billion by 2035 — the future is being built one module at a time.