Towards an Efficient Self-organizing Reconfiguration Method for Self-reconfigurable Robots

Wei Xu, Shi Gang Wang, An Lin Wang, Guobao Wang

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


This paper deals with the essential technique for self-organizing metamorphosis of self-reconfigurable robots. A general model describing self-reconfigurable robots is proposed; the model is capable of expressing the topological structure of typical 2-D and 3-D self-reconfigurable robots. Afterwards, a self-organizing metamorphic strategy of self-reconfigurable robots, based on full-discrete local intelligence, is proposed. The modules concurrently process the local interactive information. A reasonable motion sequence for modules can be obtained by means of determining and evolving the rules of modules motion. Consequently, the global self-organizing behavior will be obtained, and the complexity of the algorithm is reduced. Simulation samples are provided to illustrate this approach and demonstrate the effectiveness of the proposed strategy.

Original languageEnglish (US)
Pages (from-to)415-425
Number of pages11
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number4
StatePublished - Aug 1 2003
Externally publishedYes


  • Descriptive model
  • Metamorphic rules
  • Modular robots
  • Self-organizing
  • Self-reconfigurable robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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