Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion

2025-03-17

AI Summary

This work addresses the challenge of simultaneously achieving individual module autonomy and inter-module coordination in modular robotic systems. We propose a hierarchical Central Pattern Generator (CPG)-based control framework: a low-level CPG governs rhythmic locomotion of each module independently, while a high-level CPG enforces inter-module phase synchronization and collective coordination. Based on this architecture, we develop a reconfigurable modular robot system wherein each module integrates independent actuation, power supply, and onboard control. To our knowledge, this is the first hardware implementation enabling unified generation and seamless transition between autonomous and collective locomotion modes. Extensive validation via MuJoCo simulation and physical experiments—using both single- and dual-module configurations—demonstrates the system’s high robustness, strong adaptability, and excellent scalability, supporting rapid physical reconfiguration for dynamic tasks.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Cognitive Modeling & Cognitive Systems: Agent Architectures
• Multiagent Systems: Coordination and Collaboration

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Search and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG

Abstract

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.

Problem

• Develop modular robots with independent and collective locomotion capabilities.
• Implement hierarchical CPG framework for motion control and synchronization.
• Validate system through simulations and experiments for versatile applications.

Innovation

• Modular robots with independent actuation and control
• Hierarchical CPG framework for motion coordination
• Simulation and hardware validation of locomotion strategies