Motion of minimal configurations of a modular robot: sinusoidal, lateral rolling and lateral shift

摘要: Complex modular robots can be constructed by means of simple modules. There is no geometric superior size to the total number modules that added. The possible configurations growth exponentially. However, an inferior limit exists: minimum needed achieve locomotion. In this paper, three minimal has been developed using only two and one-degree-of-freedom simplest one pitch-pitch (PP) configuration, composed modules, which move in a straight line, forward or backward, at different speeds. second pitch-yaw-pitch (PYP), with more module moves yaw axis. case, new kinds motion achieved: 2D sinusoidal motion, lateral shift rolling. All these gaits are controlled waves amplitudes phases. Finally, third configuration three-modules star, moved directions as well rotated parallel ground.