Modular Self Reconfigurable Robotic Systems

Abstract

Modular Self-Reconfigurable robot (MSR) is a combinational system of independent and identical robotic modules. An MSR can further reconstitute itself out of the identical building units for adaptability to task-oriented functions and changing environment. An overview of the taxonomy related to the building of MSR modules has been discussed. Further, the high utility areas of the MSR robots have been considered. Then a study of the existing MSR robotic systems has been carried out. Lastly, control architectures of MSR modules and reconfiguration along with the further scope of advancement in the technological aspects have been discussed related to MSR.