Design of transmote: A modular self-reconfigurable robot with versatile transformation capabilities

This paper presents the design and implementation of a new modular self-reconfigurable robot, called Transmote. The proposed robot has several novel features that make it suitable for search and rescue operations in complex environments. A single module can move independently by coordinating three joints. Multiple modules can connect with each other to form versatile assembled robotic structures with more powerful locomotion capabilities. The assembled structures can also transform between each other or fully disassemble into individual modules again. The modules, which communicate with each other through ZigBee compliant protocols, can build emergency communication and monitoring networks when spread to the areas without communication infrastructures. Preliminary experimental results demonstrate locomotion, mechanical docking, and transformation of several example configurations.