Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion
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| Main Authors: | , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866909719997710336 |
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| author | Ding, Jiayu Jakkula, Rohit Xiao, Tom Gan, Zhenyu |
| author_facet | Ding, Jiayu Jakkula, Rohit Xiao, Tom Gan, Zhenyu |
| contents | Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control, allowing both individual mobility and coordinated locomotion. A hierarchical Central Pattern Generator (CPG) framework governs motion, with a low-level CPG controlling individual modules and a high-level CPG synchronizing inter-module coordination, enabling smooth transitions between independent and collective behaviors. To validate the system, we conduct simulations in MuJoCo and hardware experiments, evaluating locomotion across different configurations. We first analyze single-module motion, followed by two-module cooperative locomotion. Results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search and rescue, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2503_13674 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion Ding, Jiayu Jakkula, Rohit Xiao, Tom Gan, Zhenyu Robotics Systems and Control Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control, allowing both individual mobility and coordinated locomotion. A hierarchical Central Pattern Generator (CPG) framework governs motion, with a low-level CPG controlling individual modules and a high-level CPG synchronizing inter-module coordination, enabling smooth transitions between independent and collective behaviors. To validate the system, we conduct simulations in MuJoCo and hardware experiments, evaluating locomotion across different configurations. We first analyze single-module motion, followed by two-module cooperative locomotion. Results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search and rescue, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential. |
| title | Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.13674 |