SELF-ORGANIZING METAMORPHOSIS OF SELF-RECONFIGURABLE ROBOTS

We discuss the essential technique for self-organizing metamorphic of self-reconfigurable robots. A universal model of description on self-reconfigurable robots is proposed, and a self-organizing metamorphic strategy of self-reconfigurable robots based on discrete local intelligence is proposed. This strategy result in self-organization to robot system through local communication between modules, and the complication of metamorphic algorithm is reduced. An illustration of 9 modules system is given to demonstrate the effectiveness of the strategy.