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Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]

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8 Author(s)
Mark Yim ; Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA ; Wei-min Shen ; Behnam Salemi ; Daniela Rus
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The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing field

Published in:

IEEE Robotics & Automation Magazine  (Volume:14 ,  Issue: 1 )