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arXiv · 2510.13356

MODUR: A Modular Dual-reconfigurable Robot

Jie Gu·Tin Lun Lam·Chunxu Tian·Zhihao Xia·Yongheng Xing·Dan Zhang
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Abstract

Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments.

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Jie Gu, Tin Lun Lam, Chunxu Tian, Zhihao Xia, Yongheng Xing, Dan Zhang. 2025-10-15. MODUR: A Modular Dual-reconfigurable Robot. https://doi.org/10.1109/iros60139.2025.11246025

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