Using reconfigurable modular robots for rapid development of dynamic locomotion experiments

TL;DRAbstract

In locomotion research, prototypes ranging from purely passive mechanical linkages to full-fledged autonomous mechatronic machines are built to validate locomotion principles and explore different morphologies. Being able to quickly build robotic prototypes has the capability to improve workflow, productivity, and innovation. Modular Robots, for instance, allow us to build robots quickly, and rapidly explore different morphologies. We present the design and development of a Modular Robot system called CK-Bot. One of the major innovations of this system is a connection mechanism that allows the robot to be instantaneously reconfigured manually, while still maintaining a robust connection. We show the practical utility of rapidly building machines with modules in product design, and emergency response, but choose to focus on dynamic locomotion research. To show that this system can indeed be a useful tool for dynamic locomotion research, we use two of the prototypes and analyze their dyn

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