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Related Experiment Video

Updated: Dec 2, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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An integrated system for perception-driven autonomy with modular robots.

Jonathan Daudelin1, Gangyuan Jing1, Tarik Tosun2

  • 1Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA. jd746@cornell.edu tarikt@seas.upenn.edu gj56@cornell.edu.

Science Robotics
|November 3, 2020
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Summary
This summary is machine-generated.

This study presents a modular robot system that autonomously reconfigures to complete tasks in unknown environments. The system integrates perception, planning, and hardware for real-world applications.

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Area of Science:

  • Robotics
  • Artificial Intelligence

Background:

  • Modular robots offer theoretical advantages for adapting to unknown environments.
  • Real-world applications of self-reconfigurable modular robots are limited.

Purpose of the Study:

  • To present a modular robot system capable of autonomous reconfiguration for task completion in unknown environments.
  • To demonstrate the integration of perception, planning, and modular hardware for reactive adaptation.

Main Methods:

  • Developed a system integrating perception, high-level planning, and modular hardware.
  • Validated the system through three hardware demonstrations.
  • Implemented autonomous exploration, reconfiguration decisions, and object manipulation.

Main Results:

  • The modular robot system autonomously completed high-level tasks by reactively reconfiguring.
  • The system successfully adapted to perceived, a priori unknown environments.
  • Demonstrated a balanced architecture of distributed mechanics and centralized control.

Conclusions:

  • The presented system lays the groundwork for modular self-reconfigurable robots in real-world tasks.
  • Reactive reconfigurability is a viable strategy for modular robots in dynamic environments.
  • Autonomous adaptation enables modular robots to tackle complex challenges.