Morphius

Abstract

Modular robots are made up of mechanically constrained smaller robots with different degrees of freedom. These smaller robots can either detach or attach together to get a desired structure or configuration. The existing technology in this field consists of robots with homogeneous modules that lack the decision making capability and are not currently applicable in disaster struck area for inspection. To improve their performance, heterogeneity has been introduced in its structure making it possible to design versatile, application tailored modules having decision making capability. Each module will independently be able to perform a specific task depending on the attributes and given characteristics with self-configuring and reconfiguring capability. At the same time all the modules communicate and share their data with each other to collectively accomplish the goal. We have also introduced wheels for effective and faster locomotion and self-docking capability using a neutral connector. This paper addresses the two main challenges while developing such modular robotic system - intelligence and speed, in the field of rescue operations with adaptive morphology.