菱形模块机器人可自重构，适应不同环境稳定移动。
RhoMorph: Rhombus-shaped Deformable Modular Robots for Stable, Medium-Independent Reconfiguration Motion
- 菱形模块通过单个中心驱动器实现折叠与展开。
- 实验证明其能稳定重组并精准定位与对接。
- 适合需要灵活变形的复杂场景应用。
本文提出RhoMorph，一种新型可变形平面晶格模块化自重构机器人（MSRR），采用菱形模块设计。每个模块由平行四边形骨架和单个中心驱动器组成，可沿对角线折叠与展开。核心设计理念是通过最小控制复杂度实现形态变化、对接与运动等基本功能，确保连续且稳定的重构过程，不受周围介质影响，可在多种环境中可靠形成不同构型。为利用RhoMorph的独特运动学特性，我们引入一种名为morphpivoting的新运动原语，并提出其连续执行策略。一系列物理实验验证了模块的稳定重构能力、位置精度及对接精度。
原文摘要 · Abstract (English)
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that enables folding and unfolding along its diagonal. The core design philosophy is to achieve essential MSRR functionalities such as morphing, docking, and locomotion with minimal control complexity. This enables a continuous and stable reconfiguration process that is independent of the surrounding medium, allowing the system to reliably form various configurations in diverse environments. To leverage the unique kinematics of RhoMorph, we introduce morphpivoting, a novel motion primitive for reconfiguration that differs from advanced MSRR systems, and propose a strategy for its continuous execution. Finally, a series of physical experiments validate the module's stable reconfiguration ability, as well as its positional and docking accuracy.
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