Robot modularity for self-recon guration

Metamorphic robots are an emerging eld in which robots can dynamically recon gure shape and size not only for individual robots (intra-robot metamorphing) but also for complex structures that are formed by multiple robots (inter-robot metamorphing). Such capability is highly desirable in tasks such as re ghting, earthquake rescue, and battle eld scouting, where robots must go through unexpected situations and obstacles and perform tasks that are di cult for xed-shape robots. This research direction presents a number of technical research challenges. Speci cally, metamorphic robots must be able to decompose and reassemble at will from a set of basic connectable modules. Such modules must be small, self-su cient and relatively homogeneous. In this paper, we present our approach to address these issues and describe the design of the CONRO modules. These modules are equipped with a low power micro-processor, memory chips, sensors, actuators, power supplies, and miniature mechanical connectors used for communication and power sharing. We will also describe a set of control mechanisms (including one that is inspired by the biological concept of \hormone") for controlling gaits and recon gurations. We conclude the paper with a status report of the CONRO project and a list of the future work needed to fully realize the construction of the CONRO metamorphic robots.