M-TRAN (Modular Transformer) is a self-reconfigurable modular robot. The modules can form a 3-D structure which changes its own configuration, and a 3-D structure which generates smaller robots.

The M-TRAN system can change its 3-D structure and its motion in order to adapt itself to the environment. In small sized configuration, it walks in a form of legged robot, then changes into a snake-like robot to enter narrow spaces. A large structure can gradually change its configuration to make a flow-like motion, climb a step by transporting modules one by one, and produce a tower structure to look down. It can also generate multiple walkers.


M-TRAN

The M-TRAN system can change its 3-D structure and its motion in order to adapt itself to the environment. In small sized configuration, it walks in a form of legged robot, then changes into a snake-like robot to enter narrow spaces. A large structure can gradually change its configuration to make a flow-like motion, climb a step by transporting modules one by one, and produce a tower structure to look down. It can also generate multiple walkers. The design of M-TRAN has the advantages of both two types of modular robots, lattice type and chain (linear) type. This hybrid design, 3-D shape of the block parts, and parallel joint axes are all keys to realize a flexible self-reconfigurable robotic system. Possible applications of the M-TRAN are autonomous exploration under unknown environment such as planetary explorations, or search and rescue operation in disaster areas.An M-TRAN module is made of two semi-cylindrical parts connected by a link. Each semi-cylindrical part can rotate about &nbsp;its axis by 180 degrees with a servomotor embedded in the link. Each semi-cylindrical part has three connecting surfaces with four permanent magnets and can connect to other modules’ surfaces that have the opposite polarity of the magnets. The two semi-cylindrical parts have surfaces of &nbsp;different &nbsp;polarity.Mechanical and Electrical Design&nbsp;The link part includes two sets of geared motors and servo circuits. The maximum torque of each servo is enough to lift up one module. On all the connection surfaces, there are electrodes for power supply and serial communication. There are two parts, called active and passive part. Inside the active part, there is a connection mechanism that is made of non-linear springs, SMA (Shape Memory Alloy) coils and four permanent magnets, which are fixed on the connecting plate. This mechanism is based on the technique of IBMU (Internally Balanced Magnet Unit)&nbsp;The connecting plate moves automatically to connect to the other modules’ surface by attractive force of magnets. It is detached by heating SMA coils by electric &nbsp;current. When detaching, the springs help SMA coils. Inside the passive part, there are control circuits including an onboard micro-computer. This controls motor rotation and heating of SMA coils. Control commands corresponding to these operations are issued by the host computer through the serial &nbsp;communication. Each M-TRAN module has its own controller and intelligence, and all the controllers work cooperatively forming a Distributed Autonomous System as a whole.

Outlines the hardware and control system of MTRAN and demonstrates experiments of many-unit motions. Describes a motion generation method to enable a class of MTRAN clusters to move along a desired trajectory in a series of reconfiguration. The motion generator consists of a planner and a scheduler 

A Self-Reconfigurable Modular Robot (MTRAN) – Hardware and Motion Generation Software – 

Describes principles and the current M-TRAN hardware. An operation scenario is presented, followed by past research results of self-reconﬁguration and whole body locomotion. Presents a detailed evaluation of the feasibility of the scenario using several examples of walker generation by M-TRANS.

Self-reconfigurable M-TRAN structures and walker generation

Basic design and hardware development are described. Geometric self-reconfiguration  sequence, especially flow-like motions, are presented. Simulators, description languages and controllers are outlined, with the result of a basic experiment. 

Distributed self-reconfiguration control of modular robot M-TRAN


Describes the development of M-TRAN III, especially that of its hardware, communication between modules and experiments of distributed self-reconfiguration. Future research into autonomous self-reconfiguration and remaining problems are also discussed. The basic design and hardware are described. 

Distributed self-reconfiguration of M-TRAN III modular robotic system

A feasibility study was made for self-assembly and self-reproduction using anM-TRAN modular robotic system. 

Self-assembly and Self-reproduction by an M-TRAN Modular Robotic System

Height

Width

Length

Weight 

CPU 

Power supply 

Maximum torque of each axis 

Connecting force 

Elapsed time for detachment 

Power consumption for detachment 

Electrical resistance of module 

M-TRAN (Modular Transformer) is a self-reconfigurable modular robot.  The modules can form a 3-D structure which changes its own configuration, and a 3-D structure which generates smaller robots.