Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot

Framework of the modular shape-shifting robot control system is introduced.Modular design is adopted in both hardware and software of the control system,and the expansibility and fault tolerance of the whole system are improved.A new shape-shifting method,i.e.the cooperative shape-shifting method,is proposed based on the characteristics of the robot mechanism.Validity of the control system and superiority of cooperative shape-shifting method are proved by experiment.