Auxiliary Motive Power for TerminatorBot: An Actuator Toolbox

A motive toolbox of reconfigurable modules is described to extend capabilities of the TerminatorBot. The robot can be statically reconfigured with both sensors and actuators for particular applications by way of the morphing bus. The morphing bus is a parallel bus that adapts to the modules connected. A software tool is provided to aid the user in static configuration. This paper focuses on three modules, still in the prototyping stage, for adding bulk motive force to the robot in a hybrid fashion. Methods of channeling the motive force are also discussed.