Reconfigurable robot system based on electromagnetic design

Abstract

This paper presents a multirobot system composed of several X-CELLs, in which an individual robot not only can operate separately but also can be assembled with magnetic pull according to different mission and environment. With the infrared navigation sensor, X-CELLs can obtain their relative positions and determine where to go and how to combine with other ones. Due to the flexible reconfiguration, X-CELLs can easily accomplish self-assembly and self-reconfiguration with the mission requirement through magnetic pull and separate. Application indicates that the reconfigurable robot system can change the shape and connection stiffness flexibly so as to adapt to the complex environment.