SMORES-EP, a modular robot with parallel self-assembly

Self-assembly of modular robotic systems enables the construction complex configurations to adapt different tasks. This paper presents a framework for SMORES types robots efficiently self-assemble into tree topologies. These form kinematic chains that have been shown be capable large variety manipulation and locomotion tasks, yet they can reconfigure using mobile reconfiguration. A desired topology mapped onto planar pattern with optimal module assignment based on modules’ locations, then reconfiguration assembly process executed in parallel. docking controller is developed guarantee success processes. hybrid control architecture designed handle number modules behaviors each individual, achieve efficient robust self-assembly actions. The demonstrated both hardware simulation SMORES-EP platform.