Design of a Multi-Environmentally Adaptable Modular Self-Reconfigurable Robot

Modular self-reconfigurable robots (MSRRs) have significantly progressed in hardware and algorithm development. However, they are generally used in terrestrial environments, leaving broad scenarios to be explored and benefited. This letter presents a novel amphibious self-reconfigurable robot (ASRR) that combines the flexibility of modular robots with the environmental adaptability characteristic of amphibious robots. We customize the structure and circuitry to ensure the prototype functions effectively in both aquatic and terrestrial environments. Our design specifically addresses the challenge of module sealing, with a detailed description of the structure provided. A multi-functional connecting face is proposed for coupling, power sharing, sensing, and configuration identification, using only electro-permanent magnets (EPMs) without increasing the mechanical complexity. These functionalities are scalable based on the number of modules and enable the integration of independent modules into an overall system. The module's cubic structure features two rotational degrees of freedom (DOFs) and four connecting faces, similar to a universal joint. The results show the excellent performance and similar capabilities of this MSRR system across various environments. Notably, the buoyancy offsets some of the effects of gravity and significantly enhances the modules' capacity to manipulate additional modules.