Design and Control of Ant3DBot: A Modular Self-Reconfigurable Robot

This paper introduces an innovative modular self-reconfigurable robot named Ant3DBot, aiming to address the limitations of existing self-reconfigurable robots. Combining the advantages of wheeled and legged robots, Ant3DBot comprises four iron spheroid shells, telescopic legs, and internal magnets that can rotate around the center. Through a single motor, synchronous belt, and compressed springs, it can expand its shells and legs, forming distinct docking states. Moreover, the robot is equipped with multiple connector configurations, allowing it to operate flexibly in diverse environments. In its expanded state, Ant3DBot can easily traverse obstacles up to 8 cm in height and pass through an outdoor 25° slope. For unstructured environments, multiple Ant3DBots can collaborate, reaching target points through simple control. Simulation and experimental results demonstrate that Ant3DBot performs remarkably, whether operating singly or in collaborative modes, accomplishing a variety of complex tasks, showcasing its excellent mobility and versatility.