{"ID":2855106,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.13356","arxiv_id":"2510.13356","title":"MODUR: A Modular Dual-reconfigurable Robot","abstract":"Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments.","short_abstract":"Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level rec...","url_abs":"https://arxiv.org/abs/2510.13356","url_pdf":"https://arxiv.org/pdf/2510.13356v1","authors":"[\"Jie Gu\",\"Tin Lun Lam\",\"Chunxu Tian\",\"Zhihao Xia\",\"Yongheng Xing\",\"Dan Zhang\"]","published":"2025-10-15T09:42:56Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}