MODUR: A Modular Dual-reconfigurable Robot
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.
Cite
@article{arxiv.2510.13356,
title = {MODUR: A Modular Dual-reconfigurable Robot},
author = {Jie Gu and Tin Lun Lam and Chunxu Tian and Zhihao Xia and Yongheng Xing and Dan Zhang},
journal= {arXiv preprint arXiv:2510.13356},
year = {2026}
}