Design of modular fault tolerant manipulators
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Locomotion with unit-modular reconfigurable robot
Locomotion with unit-modular reconfigurable robot
Reconfigurable physical agents
AGENTS '98 Proceedings of the second international conference on Autonomous agents
The self-reconfiguring robotic molecule: design and control algorithms
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Multiagent Systems: A Survey from a Machine Learning Perspective
Autonomous Robots
On the use of sensors in self-reconfigurable robots
ICSAB Proceedings of the seventh international conference on simulation of adaptive behavior on From animals to animats
Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots
Journal of Intelligent and Robotic Systems
Swarm-Bot: A New Distributed Robotic Concept
Autonomous Robots
Distributed reconfiguration of metamorphic robot chains
Distributed Computing
Cooperation through self-assembly in multi-robot systems
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Automatic Configuration Recognition Methods in Modular Robots
International Journal of Robotics Research
Neighbor detection and crosstalk elimination in self-reconfigurable robots
Proceedings of the 1st international conference on Robot communication and coordination
Journal of Intelligent and Robotic Systems
Construction in a Simulated Environment Using Temporal Goal Sequencing and Reinforcement Learning
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Dynamic Rolling for a Modular Loop Robot
International Journal of Robotics Research
SWARMORPH: multirobot morphogenesis using directional self-assembly
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Co-evolving controller and sensing abilities in a simulated Mars rover explorer
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
An amoeboid modular robot that exhibits real-time adaptive reconfiguration
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A mechanism to self-assemble patterns with autonomous robots
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
The mathematical model and control scheme of a four-legged robot based on GZ-I and note module
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
A heterogeneous modular robotic design for fast response to a diversity of tasks
Robotics and Autonomous Systems
Dynamic reconfiguration in modular robots using graph partitioning-based coalitions
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Modular and reconfigurable mobile robotics
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Coordination and Longevity in Multi-Robot Teams Involving Miniature Robots
Journal of Intelligent and Robotic Systems
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Metamorphic robots are modular robots that can reconfigure their shape. Such capability is desirable in tasks such as earthquake search and rescue and battlefield surveillance and scouting, where robots must go through unexpected situations and obstacles and perform tasks that are difficult for fixed-shape robots. The capabilities of the robots are determined by the design specification of their modules. In this paper, we present the design specification of a CONRO module, a small, self-sufficient and relatively homogeneous module that can be connected to other modules to form complex robots. These robots have not only the capability of changing their shape (intra-robot metamorphing) but also can split into smaller robots or merge with other robots to create a single larger robot (inter-robot metamorphing), i.e., CONRO robots can alter their shape and their size. Thus, heterogeneous robot teams can be built with homogeneous components. Furthermore, the CONRO robots can separate the reconfiguration stage from the locomotion stage, allowing the selection of configuration-dependent gaits. The locomotion and automatic inter-module docking capabilities of such robots were tested using tethered prototypes that can be reconfigured manually. We conclude the paper discussing the future work needed to fully realize the construction of these robots.