Modular Self-Reconfigurable Continuum Robot for General Purpose Loco-Manipulation

Modular Self-Reconfigurable Robots offer exceptional adaptability and versatility through reconfiguration, but traditional rigid structure designs lack the compliance necessary for effective interaction with complex environments. Recent advancements in modular soft robotics address this shortcoming with enhanced morphologies and functions, though they remain limited by reliance on manual assembly and the absence of active self-reconfiguration capabilities. In this paper, we present a modular self-reconfigurable soft continuum robot (MSRCR) system featuring a continuum backbone and an omnidirectional docking connector. This design enables each module to independently perform loco-manipulation and self-reconfiguration without manual intervention. We also propose a kinetostatic model and perform geometrical docking range analysis to characterize the robot's performance. The reconfiguration process and the distinct motion gait for each configuration are identified, including rolling, crawling, and snake-like undulation. Experimental demonstrations show that both single and multiple connected modules can achieve successful loco-manipulation, adapting effectively to various environments.