Abstract

Self-reconfigurable or metamorphic robots are modular robots that can change their shape and size. Such capability is desirable in situations where robots may encounter unexpected obstacles and difficulties and to perform tasks that are difficult for fixed-shape robots. We want to build homogeneous metamorphic robots with intra and inter-robot metamorphic capabilities. Fulfillment of this objective calls for building small-size, self-sufficient and low power modules, with enough computing power to run relatively sophisticated control algorithms, using mostly commercial-off-the-shelf components. Sophisticated programs need to be uncoupled from hardware management to make them easier to develop and maintain. This means the modules need an operating system on-board. The operating system has to small in size and have a low overhead to be able to run on a small-memory microcontroller and at the same time has to provide sufficient functionality. In this paper, we discuss the design of the electrical subsystem and the operating system and communication mechanisms of the modules of our robot.

Citations