Propulsion Method of Modular Robot Using Different Types of Locomotion Modules

Multi-purpose module system (MMS), which is one of the module robots, consists of locomotion, sensor, communication, and function modules. The MMS can be transformed into a series-connected form or a quadruped form, following which appropriate sensors can be added. Therefore, the MMS can be used as a rescue robot in an unknown situation. This study presents an overview of each of the modules that comprise the developed MMS, as well as an overview of each of the forms in which they are combined. Considering that the MMS feature can freely combine different types of modules, we developed MMS-D01, which combined serpentine and wheeled propulsion, and MMS-V02, which combined Mecanum-wheeled propulsion and stable traveling using joint control. These developed MMSs were evaluated under various conditions.