Exploring environment exploitation for self-reconfiguration in modular robotics

TL;DR

This paper explores how modular truss robots can leverage environmental features like ledges and slopes to enhance their locomotion, reconfiguration, and assembly capabilities, moving beyond traditional robot-centric design.

Contribution

It introduces a paradigm shift focusing on environment exploitation for modular robots, demonstrating improved capabilities through environmental interactions.

Findings

Environment features extend robot capabilities

Enhanced locomotion and reconfiguration achieved

Simple assemblies can form complex structures

Abstract

Modular robotics research has long been preoccupied with perfecting the modules themselves -- their actuation methods, connectors, controls, communication, and fabrication. This inward focus results, in part, from the complexity of the task and largely confines modular robots to sterile laboratory settings. The latest generation of truss modular robots, such as the Variable Topology Truss and the Truss Link, have begun to focus outward and reveal a key insight: the environment is not just a backdrop; it is a tool. In this work, we shift the paradigm from building better robots to building better robot environment interactions for modular truss robots. We study how modular robots can effectively exploit their surroundings to achieve faster locomotion, adaptive self-reconfiguration, and complex three-dimensional assembly from simple two-dimensional robot assemblies. By using environment features -- ledges, gaps, and slopes -- we show how the environment can extend the robots' capabilities. Nature has long mastered this principle: organisms not only adapt, but exploit their environments to their advantage. Robots must learn to do the same. This study is a step towards modular robotic systems that transcend their limitations by exploiting environmental features.