Abstract

With the progress of science and technology, the traditional robot workplace is fixed, single-function, and inflexible, and may not work properly in some special places, while the modular robot with self-reconfiguration function is a robot that can adapt to new environments and can rely on new task settings, which has a series of universal modules and relies on mutual communication between modules and autonomous reorganization movements to cope with changes in the environment or tasks and recover from the state of destruction. This paper summarizes the representative international research results from the perspective of the hardware design of robots in two aspects based on the design characteristics of self-reconfiguring modular robots around the reconfiguration strategy planning method. At the same time, some existing problems and shortcomings are pointed out on this basis to provide ideas as well as perspectives for future research development.

中文翻译：

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自重构模块化机器人重构策略研究综述

摘要

随着科技的进步，传统机器人工作场所固定、功能单一、不灵活，在一些特殊场所可能无法正常工作，而具有自我重构功能的模块化机器人则是一种能够适应新环境的机器人并且可以依靠新的任务设置，具有一系列通用模块，依靠模块之间的相互通讯和自主重组动作来应对环境或任务的变化，并从破坏状态中恢复。本文根据自重构模块化机器人的设计特点，围绕重构策略规划方法，从机器人硬件设计的角度，从两个方面总结了国际上具有代表性的研究成果。同时，在此基础上指出了存在的一些问题和不足，为今后的研究发展提供思路和展望。