Realizing Modular Self-reconfiguring Soft Robots through Inter-module Communication and Model Checking

This paper presents the design and experimental validation of a modular self-reconfiguring soft robotic system that leverages inter-module communication and a transition system based abstraction with model checking to enable safe autonomous reconfiguration planning. The system is built from modular pneumatic actuators connected via electromechanical locking connectors and PAC (Power, Air, Communication) connectors, which enable both pneumatic and electrical inter-module connections. A configuration matrix, built from digital pin signals, tracks the state of connected modules for real-time module identification. We construct an algorithm leveraging transition systems that creates an abstraction of the system that enables the computation of the set of reachable reconfigurations. Atomic propositions are characterized by the logical states ascertained from the PAC connectors. Linear time properties are used to describe propositions associated with goal states and are used for model checking and safety verification. Experimental results demonstrate successful reconfiguration of a small-scale modular system, offering insights for future autonomous planning and control of modular soft robots.