International Journal of Advanced Robotic Systems

ARTICLE

Nested Reconfigurable Robots: Theory,

Design, and Realization
Regular Paper

Ning Tan1*, Nicolas Rojas2, Rajesh Elara Mohan1, Vincent Kee3 and Ricardo Sosa4

1 Singapore University of Technology and Design, Singapore

2 Yale University, New Haven, USA
3 Massachusetts Institute of Technology, Cambridge, USA
4 Auckland University of Technology, Auckland, New Zealand
*Corresponding author(s) E-mail: ning_tan@sutd.edu.sg

Received 10 September 2014; Accepted 9 February 2015

DOI: 10.5772/60507

© 2015 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License
(http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the
original work is properly cited.

Abstract
Keywords Nested reconfiguration, Modular robot, Self-
Rather than the conventional classification method, we reconfigurable, Tetromino
propose to divide modular and reconfigurable robots into
intra-, inter-, and nested reconfigurations. We suggest
designing the robot with nested reconfigurability, which
utilizes individual robots with intra-reconfigurability 1. Introduction
capable of combining with other homogeneous/heteroge‐
neous robots (inter-reconfigurability). The objective of this The design philosophy of reconfigurability has been
approach is to generate more complex morphologies for studied and applied to robotics since the 1980s. A number
performing specific tasks that are far from the capabilities of reconfigurable robotic systems have been proposed
of a single module or to respond to programmable assem‐ thereafter [1, 2, 3]. Many practical applications prove that
bly requirements. In this paper, we discuss the theory, reconfigurability is a very valuable design strategy.
concept, and initial mechanical design of Hinged-Tetro, a Conventionally, these reconfigurable robots are classified
self-reconfigurable module conceived for the study of into lattice, chain, and hybrid types [4, 5]. From another
nested reconfiguration. Hinged-Tetro is a mobile robot that perspective, we propose a new classification of these
uses the principle of hinged dissection of polyominoes to existing robots. To this end, we introduce a concept, namely
transform itself into any of the seven one-sided tetrominoes nested reconfiguration, which is an integration of two typical
in a straightforward way. The robot can also combine with
classes: intra-reconfiguration and inter-reconfiguration.
other modules for shaping complex structures or giving
Hence, we can classify the modular and reconfigurable
rise to a robot with new capabilities. Finally, the validation
robots into intra-, inter-, and nested reconfigurable types.
experiments verify the nested reconfigurability of Hinged-
Tetro. Extensive tests and analyses of intra-reconfiguration An intra-reconfigurable robot can be viewed as a
are provided in terms of energy and time consumptions. collection of components (sensors, actuators, mechanical
Experiments using two robots validate the inter-reconfi‐ parts, power, controller, etc.) acting as a single entity
gurability of the proposed module. while having the ability to change its internal morpholo‐

Int J Adv Robot Syst, 2015, 12:110 | doi: 10.5772/60507 1

 gy without requiring any external assembly or disassem‐
bly. Figure 1 presents a conceptual depiction of intra-
reconfigurable robots. Intra-reconfigurability has been
generally centred on functional modules, namely motion,
sensing, and control. Intra-reconfiguration for motion
allows robots the flexibility of traversing over a variety
of terrains and spaces (land, air, and water) as well as a
series of manipulation skills. Examples include versatile Figure 2. Conceptual depiction of inter-reconfigurability
amphibious robots capable of intra-reconfiguration
between terrestrial and aquatic gait mechanisms [6], Integrating the advantages of the intra-reconfigurability
metamorphic robotic hands capable of intra-reconfigura‐ and inter-reconfigurability yields nested reconfigurability as
ble palm topologies [7], and reconfigurable walking shown in Figure 3 with a conceptual depiction. A nested
mechanisms that produce a wide variety of gait cycles reconfigurable robotic system can be defined as a set of
[8]. Intra-reconfiguration for sensing enables a robot to modular robots with individual reconfiguration character‐
adapt its sensor configuration to the environment or task istics (intra-reconfigurability) that combine with other
at hand. To this end, evolutionary design techniques for homogeneous/heterogeneous robot modules (inter-
perceptual intra-reconfigurability [9, 10] and strategies for reconfigurability). However, the objective of this system is
recognizing and eliminating corrupted sensory have been to generate more complex morphologies for performing
proposed [11]. Finally, intra-reconfiguration for comput‐ specific tasks that are far from the capabilities of a single
ing allows robots to reconfigure control in response to unit or to respond to programmable assembly require‐
environmental/task demands [12 - 17]. ments [19, 20]. The two-level reconfiguration process in a
nested reconfigurable robotic system implies several
technical challenges in hardware design, planning algo‐
rithms, and control strategies.

Figure 3. Conceptual depiction of nested reconfigurability

The distinction between intra- and inter-reconfigurability

Figure 1. Conceptual depiction of intra-reconfigurability has been framed previously as assembly and disassembly
on macro- and micro- scales, wherein the individual robotic
Except for the reconfiguration happening in the individual module maintains its morphology as constant when
robot, multiple robots can also joint together to form a new assembled in an aggregate structure [21]. The concept of
configuration. Figure 2 presents a conceptual depiction of nested reconfiguration explicitly considers the ability of the
inter-reconfigurable robots. This inter-reconfigurability modular components at the atomic level to internally
has gained widespread popularity in the robotics com‐ transform their morphology without splitting. This can be
munity due to the possibility of assembling a variety of seen in fact as a generalization of the self-deformation
specialized robots and complex structures using a standard principle used in tensegrity-based cellular robots [22].
set of components [18]. The inter-reconfigurable robot
Inspired by the Tetris pieces, Hinged-Tetro is proposed in
consists of an congregation of modular homogenous or
this paper as a showcase of study of nested reconfigurable
heterogeneous intelligent components/robots capable of
robots. We discuss the theory, concept, and initial mechan‐
forming a variety of morphologies through an ongoing
ical design of such a robot. Hinged-Tetro is a mobile self-
assembly and disassembly process. Numerous inter-
reconfigurable robot module based on the theory of hinged
reconfigurable robots have been developed for a variety of
dissection of polyominoes that is able to transform itself
potential applications ranging from surveillance to space
into any of the one-sided tetrominoes. The robot is of
exploration and using different schemes for module
interest for research in nested reconfiguration because it
docking and undocking, and all types of reconfiguration
can easily change its structure and combine with other
which includes manual, semi-manual, and self. Relevant
modules to form new morphologies to accomplish, for
examples include CEBOT, PolyBot, Crystalline, M-TRAN,
instance, manipulation tasks that a single robot could not
ATRON, Molecube, CKBot, and many others.
handle on its own.

2 Int J Adv Robot Syst, 2015, 12:110 | doi: 10.5772/60507

The remaining part of this paper is organized as follows. the subject seriously during his graduate studies at Har‐
Section 2 introduces the concept of polyominoes with some vard [25]. Polyominoes can be seen as a generalization of
historical considerations and important results, and the domino (the two equal squares joined edge-to-edge
presents the idea of hinged dissections of polyominoes, used in the eponymous board game) to a set of multiple
where some statements of relevance for the design of squares. Polyominoes are familiar in popular culture
Hinged-Tetro are discussed and proven. Section 3 focuses because they have been used as entertainment puzzles
on the mechanical design of the proposed reconfigurable since at least the eighteenth century. The rectangular
robot. The prototyping of the robot is described in Section puzzles Jags and Hooks (1785) and Sectional Checkerboard
4. Some preliminary experiments, analysis, potential (1880) [26] are classical examples of such practical assembly
applications of nested reconfigurable robots are presented games.
in Section 5. Finally, Section 6 concludes the paper and
The problem of estimating the number t(n) of polyominoes
discusses future work.
composed of n squares [25] has been discussed by several
authors since the 1950s. Currently, the best known bound
2. Reconfigurability of Hinged Dissections of
is 3.9856n < t(n) < 4.6496n [27]. This counting is considered in
Polyminoes
fixed polyominoes, known as lattice animals in statistical
This section introduces and discusses the polyminoes and physics. In such polyominoes only translation movements
hinged dissections. The reconfiguration pattern will be are assumed, so two fixed polyominoes are different if they
extracted and applied to the design of the nested reconfig‐ do not have the same orientation. Polyominoes that can be
urable robot presented in the next section. translated and rotated but not reflected are called one-sided
polyominoes. Those that can be picked up and flipped are
2.1 Polyominoes called free polyominoes. The number of free n-ominoes, say
r(n) , is less than or equal to the number of one-sided n-
Polyominoes (also called n-ominoes or super-dominoes)
ominoes, say s(n) . In fact, it can be easily shown that
are plane geometric figures formed by joining one or more
t(n)
equal squares (cells) edge-to-edge. An example of a ≤ r(n) ≤ s(n) ≤ t(n) [28]. The three kinds of polyominoes
8
polyomino, a 16-omino, is presented in Figure 4(top-left). are summarized in Table 1 with up to 8 squares. For
Since its perimeter (24 units) is not equal to that of its instance, there are one free, one one-sided, and two fixed
minimal bounding box (20 units), this shape corresponds dominoes (2-ominoes), two free, two one-sided, and six
to a non-convex polyomino. Sets of joined squares with at fixed triominoes (3-ominoes), and five free, seven one-
least one couple of cells connected only at their corners sided, and nineteen fixed tetrominoes [4-ominoes, e.g., the
[Figure 4(top-right)] or with edges that do not perfectly one in Figure 4(bottom-right)].
match to each other are not considered polyominoes. As
Figure 4(bottom-left), the polyomino with a hole is the
heptomino with seven squares that the polyomino regions Name n Free One-sided Fixed
for which may be hollow. Monomino 1 1 1 1

Domino 2 1 1 2

Triomino 3 2 2 6

Tetromino 4 5 7 19

Pentomino 5 12 18 63

Hexomino 6 35 60 216

Heptomino 7 108 196 760

Octomino 8 369 704 2725

Table 1. The number of three kinds of polyominoes (n-ominoes, n≤8)

2.2 Hinged Dissections of Polyominoes

A geometric figure can be dissected into a finite number of

smaller pieces that can be rearranged to form another figure
[29, 30]. For instance, any two simple polygons in the plane
Figure 4. A polyonimo composed of 16 squares, i.e., a 16-omino (top-left). A
set of joined squares that is not a polyomino. In general, shapes formed by (i.e., polygons with non-intersecting sides) of equal area
at least one couple of squares connected only at their corners are not can be dissected by straight line cuts into a finite number
polyominoes (top-right). A polyomino with a hole, a heptomino (bottom-
of congruent polygonal figures that can be rearranged
left). A tetromino (bottom-right).
without overlapping to form the other polygon [31]. This is
The word polyomino is attributed to Solomon Golomb [23, known as the Wallace-Bolyai-Gerwien theorem [32]. Some
24] who seems to be the first mathematician to have treated popular geometric dissections include the Tangram (the

Ning Tan, Nicolas Rojas, Rajesh Elara Mohan, Vincent Kee and Ricardo Sosa: 3
Nested Reconfigurable Robots: Theory, Design, and Realization
 Figure 5. Examples of hinged dissections. Kelland’s proof
of the Pythagorean theorem by a hinged rearrangement (top).
Dudeney’s hinged dissection of an equilateral triangle into a
square (bottom).

dissection puzzle invented in ancient China), the Hindu

! "
problem (the Greek cross dissection into five pieces to form
a square [33]), and the Bhaskara's proof of the Pythagorean
theorem [34].

Instead of allowing the smaller figures in a dissection to be Figure 7.

squares (le
rearranged arbitrarily, we suppose that the pieces are pin- # $ (right). Th
jointed at their vertices. This special subclass of dissections
% & with respec
(b): Maxim
are called hinged dissections [35]. In 1864, the British dissection
mathematician and physicist Phillip Kelland presented LRL-hinged
what seems to be the first published hinged dissection [30], be rotated i
Figure
Figure6. Seven one-sided
6. Seven tetrominoes
one-sided tetrominoes.
a proof by rearrangement of the Pythagorean theorem
[Figure 5(top)]. For many years, a problem that aroused the Theorem
Theorem 22 gives
gives us
us the
the appropriate foundation to to develop
develop We suppo
appropriate foundation
interest of several mathematicians was determining if there aaself-reconfigurable robot module able to transform
self-reconfigurable robot module able to transform itself itself into the T-
is always a hinged dissection between two simple poly‐ into
intoanyanyofofthe seven
the sevenone-sided
one-sided tetrominoes
tetrominoes (Figure
(Figure6). For
6).
different w
gons, that is, if there exists a collection of geometric shapes the set {1
mechanical
For mechanical simplicity
simplicityreasons
reasons (e.g.,
(e.g.,number
number of joints,
of joints,
permutati
hinged at their vertices that can be folded in the plane process
process ofof transformation),
transformation), we we are interested in
are interested in the
thenatural
natural the LRL-h
continuously without self-intersection to form both hinged dissections
hinged dissections of ofpolyominoes.
polyominoes.AAnatural naturaldissection
dissectionis
the four ca
polygons. Figure 5(bottom) shows a classical example of is the cutting of a n-omino into some of its constituent
the cutting of a n-omino into some of its constituent with such
this problem, the hinged dissection of an equilateral squares. When all of them are cut using n − 1 hinges,
squares. When all dissection
the corresponding of them are cut using
is called n-1 hinges,
a maximum the
natural
squares ar
triangle into a square by Henry Dudeney [36]. Recently, corresponding dissection is called a maximum natural to edge, o
dissection. An example of a non-maximum natural
Abbott et al. [37] generalized the hinged dissection problem dissection. Anpolyominoes
example of aisnon-maximum natural regions w
dissection of depicted in Figure 7(a:dissec‐
left).
of two polygons and constructively proved that actually tion of polyominoes
In this instance, three is stacked
depictedidentical
in Figure 7(a: left).
squares In this
dissected
two lines.
any finite collection of polygons of equal area has a instance,
by only onethreehinge
stackedcanidentical
be rotatedsquares dissected
into the by only
two one-side
because th
common hinged dissection. The following theorem to Square
one hinge can
triominoes be rotated
[Figure into theSuch
7(a: right)]. two one-side
dissection triominoes
is called
cases (Fig
summarizes this result: the L-hinged
[Figure dissection
7(a: right)]. Such of triominoes,
a dissection is where the L-hinged
called the L stands
a T-tetrom
for the position on the hinge from a top view of the three
Theorem 1 (Abbott et al., 2012) Any finite set of polygons of dissection of triominoes, where the L stands for the position assumptio
stacked identical squares. For the case of tetrominoes,
equal area have a common hinged dissection that can fold on the hinge from a top view of the three stacked identical
continuously without intersection between the polygons. For two squares. For the case of tetrominoes, a possible option of
target polygons with vertices drawn on a rational grid, the 4 maximum natural
Int J Adv Robotic dissection
Sy, 2013, isNo:2013
Vol. No, the LRL-hinged dissection
number of required pieces is pseudopolynomial, as is the running presented in Figure 7(b: right). However, all of the one-side
time of the algorithm to compute the common hinged dissection. tetrominoes cannot be obtained by rotations of this hinged
dissection:
Any polyomino can be associated to a polygon. In the case
Lemma 3 The LRL-hinged dissection of four identical squares
of tetrominoes, for instance, I corresponds to a rectangle, O
cannot be rotated into all one-sided tetrominoes.
to a square, and T to an octagon. Theorem 1 implies that
there exists at least one hinged dissection of polygons that Proof. According to the notation of Figure 7(b: right), let us
can be rotated into any n-omino for a given n. In fact, in [35], consider some unfeasible relative locations of Squares 1
the authors propose an elegant hinged dissection of and 3. For example, given that the hinges joining them to
polyominoes and prove that: Square 2 are in opposite corners, it is not possible that
Square 1 and 3 share an edge after a rotation, of both or one
Theorem 2 (Demaine et al., 2005) A cycle of 2n right
of them, with respect to Square 2. In general, if we trace two
isosceles triangles, joined at their base vertices, can be rotated
lines (vertical and horizontal) dividing Square 2 into four
into any n-omino.
equal parts and splitting the Euclidean plane into six
regions (including the lines itself), there is no option that
after any combination of rotations, Squares 1 and 3 lie at
consecutive regions.
We suppose that the LRL-hinged dissection can be rotated
into the T-tetromino. Since for any tetromino there are 24
different ways of labelling the constituent squares using the
set {1, 2, 3, 4}, this implies that at least one of such permu‐
tations for the T-tetromino can be achieved with the LRL-
hinged dissection. However, all permutations but the four
cases presented in Figure 8 cannot be assembled with such
Figure 5. Examples of hinged dissections. Kelland's proof of the Pythagorean a hinged dissection either because two hinged squares are
theorem by a hinged rearrangement (top). Dudeney's hinged dissection of not successive in the permutation, i.e., edge-to-edge, or
an equilateral triangle into a square (bottom).
because Squares 1 and 3 lie at consecutive regions when

4 Int J Adv Robot Syst, 2015, 12:110 | doi: 10.5772/60507

 Proof. Four stacked identical squares can be dissected by
three hinges in eight different ways, namely LLL, LLR,
LRL, LRR, RLL, RLR, RRL, and RRR, where the sequence
of L and R letters indicates the position of the hinges from
up to down at a top view of the set of squares. Sequences
RLR, RRL, and RRR are mirror reflections of sequences
LLL, LLR, and LRL, respectively. Sequences LRR and RLL
can be achieved by rotating sequences LLR and RRL by
180°, respectively. Therefore, up to congruence, four
stacked identical squares can be dissected by three hinges
in three different ways, namely LLL, LLR, and LRL. By
Lemma 3, it is known that a LRL-hinged dissection of four
identical squares cannot be rotated into all one-sided
tetrominoes. Finally, Table 2 presents feasible sequences of
transformations from the I-tetromino to all of the one-sided
tetrominoes using the LLL- and LLR-hinged dissections. In
such a table, a Rb indicates a rotation of square b respect to
square a. □
Figure 7. (a): The L-hinged dissection of three stacked identical squares (left)
can be rotated into the two one-side triominoes (right). The dark grey As far as the we know, the LLR-hinged dissection was
Other possible options of maximum natural dissection 3. Design of Hinged-Tetro
indicates that Square 1 is rotated (+180°) with respect to Square 2 in order to presented for the first time in [35], where the authors
obtainfor
thetetrominoes are the
second triomino. (b):LLL- and LLR-hinged
Maximum dissections
natural dissections of tetromi‐
noes.presented in Fig.
The LLL-hinged 7(b: left
dissection and
(left), the center).
LLR-hinged Indissection
contrast (center),
to showedpopular
Tetrominoes, that five identical
for their use insquares
the videocannot be hinged to be
game Tetris
and common in tiling problems [38], have also been used
theLRL-hinged
and the LRL-hinged dissection
dissection previously
(right). discussed,
The LRL-hinged all cannot
dissection the be rotated into all pentominoes. Lemma 4
as models for the better understanding of self-assembly
closes the circle for
one-side
rotated into all tetrominoes can be obtained
one-sided tetrominoes (Lemma by 3). rotations of these hinged
processes dissections
in small moleculesof tetrominoes. This[39].
and nanoparticles resultIn gives us the
hinged dissections. In fact, it can be shown that:
appropriate
this section, geometries
we present for reconfigurable
a nested developing a robot
self-reconfigura‐
whichbleis robot
able tomodule
transform able to transform
itself into itself
any of the into any of the
seven
one-sided tetrominoes, for the fundamental study of
nestedseven one-sided
reconfigurable tetrominoes.
robotic systems. We call this robot Hinged-
3 3 Tetro. Any of the two types of hinged dissections (LLL and
1 2 4 4 2 1 LLR)design
3.1. Global can be used for the intra-reconfiguration purposes,
The andnestedforreconfigurable
some inter-reconfigurability
robotic system is aoperations
set both
geometries
of modular are needed.
robots with individual reconfiguration
characteristics that combine to form, for instance, a more
4 4 complex robot mechanism suitable for performing specific
3. Design of Hinged-Tetro
tasks that are far from the capabilities of a single robot
1 2 3 3 2 1 module. In this paper, we focus on proof-of-concept with a
Tetrominoes, popular for their use in the video game Tetris
2D robot platform for the study of nested reconfiguration.
and common in tiling problems [38], have also been used
Based on the theory of hinged dissection of polyominoes
as models for the better understanding of self-assembly
in Section 2.2, we design a mobile self-reconfigurable
Figure 8. In all these cases of permutations for labelling a T-tetromino using
Figure 8. In all these cases of permutations for labeling a
processes in small molecules
T-tetromino using the set {1, 2, 3, 4}, the feasible locations of square
the set robot called Hinged-Tetro that is ableand nanoparticles
to transform itself [39]. In this
4 {1, 2, 3, 4},
to the feasible
3 (inlocations of Square 4 respect
thetorequired
Square 3 (in
respect
dark grey) do(in
position
square
notdark
match
dark gray)
the required
orange) when a position
do not match
(in dark
LRL-hinged orange)
dissection is used.
section,
when a LRL- into any of the weone-sided
present tetrominoes.
a nested reconfigurable
The geometryrobot that is
hinged dissection is used able to transform
of Hinged-Tetro is highly itself
usefulinto any of in
for research thenested
seven one-sided
reconfiguration because the robot can easily rearrange its
Lemma 4. The LLL- and LLR-hinged dissections of four tetrominoes for the fundamental study
own blocks to change its structure (intra-reconfiguration)
of nested reconfig‐
Square 2 is divided
identical squares areinto four equal
the unique maximum parts by two
natural lines. The and urable
dissections, roboticwith
also combine systems.
other Hinged-Tetros to form,
remaining four cases
up to congruence, thatcannot
can be be arranged
rotated into all because
one-sided the for instance, more complex morphologies to accomplish
tetrominoes.
feasible locations of Square 4 with respect to Square 3 do tasks 3.1 that a single system could not tackle on its own
Global design
(inter-reconfiguration).
not match the required position in all cases
Proof. Four stacked identical squares can be dissected by (Figure 8). This
exhausts all cases
three hinges in 8 for assembling
different a T-tetromino
ways, namely, LLL, LLR, LRL,
The nested
using a The design reconfigurable
of the proposed robotic
robot considers system is a set of
the simplicity
LRL-hinged
LRR, RLL,dissection.
RLR, RRL, and Thus,
RRR,our assumption
where the sequence is of
contra‐
L in modular
order to robots
facilitate with
mass individual
production reconfiguration
in the future. character‐
Thus, the Hinged-Tetro’s design is modular as it is an
and R letters indicates the position of the hinges from up
dicted. istics that combine to form, for instance, a more complex
assembly with easily interchangeable shared components.
to down at a top view of the set of squares. Sequences robot mechanism suitable for performing
This characteristic allows the Hinged-Tetro to be readily specific tasks that
RLR, RRL, and RRR are mirror reflections of sequences
Other possible options of maximum natural dissection for configured are far from
either the
as acapabilities
LLL-hinged of a single
dissection robot
or as module.
a In this
LLL, LLR, and LRL, respectively. Sequences LRR and
tetrominoes are the LLL- and LLR-hinged
RLL can be achieved by rotating sequences LLR and RRL dissections paper
LLR-hinged we focus
dissection. on
Figure proof-of-concept
9 presents a complete with
CAD a 2D robot
presented
by 180◦in Fig. 7(b: leftTherefore,
, respectively. and center). up In
to contrast
congruence, to the
fourLRL- of a fully-functional
platform for
Hinged-Tetro in LLR configuration.
the study of nested reconfiguration.
Exploded views of the constituent blocks are presented.
hinged dissection
stacked identicalpreviously
squares can discussed,
be dissected allby of thehinges
three one-side Block 2 is defined to be the system’s anchor that never
in 3 different ways, namely, LLL, LLR, and LRL. By Based on the theory of hinged dissection of polyominoes in
tetrominoes can be obtained by rotations of these hinged rotates during an intra-reconfiguration operation. This can
Lemma 3, it is known that a LRL-hinged dissection of Section 2.2, we design a mobile allself-reconfigurable robot
dissections. In fact,
four identical it can
squares be shown
cannot that:
be rotated into all one-sided be seen from Table 2 also. Accordingly, heavier robot
tetrominoes. Finally, Table 2 presents feasible sequences of
called
subsystems Hinged-Tetro
such as the drivethat is
system able
and to transform
electronics itself
are into any
Lemma 4 The LLL- from
transformations and LLR-hinged
the I-tetrominodissections
to all theofone-sided
four identical concentrated
of the one-sided
in Block 2. tetrominoes. The geometry of Hinged-
squares are the using
tetrominoes uniquethemaximum natural dissections,
LLL- and LLR-hinged dissections.up to The Hinged-Tetro’s
Tetro is highly useful
body for research
consists in nested
of four cubes reconfiguration
connected
a R indicates a rotation of square b respect to
congruence, that can
In such table, b be rotated into all one-sided tetrominoes. because
by three the
revolute robot
joints can 9).
(Figure easily rearrange
The cubic shape ofits own blocks to
each
square a. block allows an easy intra-reconfiguration process while
providing enough space to allocate appropriate sensors for
As far as the we know, the LLR-hinged dissection was
Ning Tan, Nicolas Rojas, Rajesh Elara Mohan, Vincent Kee and Ricardo Sosa: 5
inter-reconfiguration purposes. Each cube is hollow with
Nested Reconfigurable Robots: Theory, Design, and Realization
presented for the first time in [35], where the authors internal ribbing to minimize weight while maintaining
showed that five identical squares cannot be hinged strength. The blocks have a modular design allowing
to be rotated into all pentominoes. Lemma 4 closes many parts to be reused in the system.
the circle for hinged dissections of tetrominoes. This
 change its structure (intra-reconfiguration) and also subsystems such as the drive system and electronics are
combine with other Hinged-Tetros to form, for instance, concentrated in Block 2.
more complex morphologies to accomplish tasks that a
The Hinged-Tetro's body consists of four cubes connected
single system could not tackle on its own (inter-reconfigu‐
by three revolute joints (Figure 9). The cubic shape of each
ration).
block allows an easy intra-reconfiguration process while
The design of the proposed robot considers the simplicity providing enough space to allocate appropriate sensors for
in order to facilitate mass production in the future. Thus, inter-reconfiguration purposes. Each cube is hollow with
the Hinged-Tetro's design is modular as it is an assembly internal ribbing to minimize weight while maintaining
with easily interchangeable shared components. This strength. The blocks have a modular design, allowing many
characteristic allows the Hinged-Tetro to be readily parts to be reused in the system.
configured either as an LLL-hinged dissection or as an LLR-
hinged dissection. Figure 9 presents a complete CAD of a 3.2 Detailed design
fully-functional Hinged-Tetro in LLR configuration.
Exploded views of the constituent blocks are presented. Other than the global structure, the mechanical design of
Block 2 is defined as being the system's anchor that never Hinged-Tetro can be divided into three main parts:
rotates during an intra-reconfiguration operation. This can mobility unit, revolute joints, and docking system. Next,
be seen from Table 2 also. Accordingly, all heavier robot each of them is briefly discussed.

Table 2. Transformation of LLL- and LLR-hinged dissections into all one-sided tetrominoes

3.2.1 Mobility unit operations. The single-axis rotation provided by each joint
allows its adjacent blocks to rotate with a range of motion
Because inter-reconfiguration processes require free
of up to 180°, as required by the lattice architecture result‐
movement in the Euclidean plane, the Hinged-Tetro must
ing from the transformation operation between different
be designed with sufficient mobility regardless of its
tetromino shapes (see Table 2). Each joint is designed as a
shapes. To accomplish this, Hinged-Tetro employs a
Butt/Mortise hinge. Block 2 works as a frame that the motor
holonomic drive system using four omni-wheels (active
is docked to it for the rotations of Blocks 1 and 3. This last
wheels) located on Block 2. During intra-reconfiguration,
the wheels lock to avoid the movement of Block 2, while all block works as a frame for the rotation of Block 4.
the others rearrange their positions. Blocks 1, 3, and 4 rest
on three metal ball casters (passive wheels) to facilitate 3.2.3 Docking system
movement during inter-reconfiguration locomotion and
The docking system is one of the essential parts of a
intra-reconfiguration operations.
reconfigurable robot. It has been proved that mechani‐
cal docking systems are stronger and more reliable than
3.2.2 Revolute joints
magnetic connectors [4, 40]. Thus, for both intra-reconfi‐
The reconfigurability of Hinged-Tetro is guaranteed by guration and inter-reconfiguration operations, Hinged-
three revolute joints that connect the constituent blocks in Tetro utilizes a simple (one degree of freedom) but robust
a chain formation for performing the intra-reconfiguration electromechanical mechanism based on gendered

6 Int J Adv Robot Syst, 2015, 12:110 | doi: 10.5772/60507

Figure 9. Design of a fully-functional Hinged-Tetro in LLR configuration. The modular design of the robot can be observed in the exploded views of the
constituent blocks. Since Block 2 does not rotate during any intra-reconfiguration operation, the unit is used as the system's anchor and concentrates the heavier
subsystems.

(a) Intra reconfiguration (b) Inter reconfiguration

Figure 10. Hinged-Tetro in its seven intra-reconfiguration shapes (a). An example of inter-reconfiguration, the fork formation for manipulation tasks (b). Such
Figure 10. Hinged-Tetro in its seven intra-reconfiguration shapes (a). An example of inter-reconfiguration, the fork formation for
morphology can be made
manipulation tasksusing
(b). three
Such Hinged-Tetros
morphology canin LLR
be configuration (L-, J-, and
made using three O-tetrominoes)
Hinged-Tetros andconfiguration
in LLR one Hinged-Tetro
(L-, in
J-, LLL
andconfiguration (I-tetromino).
O-tetrominoes) and
one Hinged-Tetro in LLL configuration (I-tetromino).

connectors.
connectors. The The
male connector
male connectorconsists
consistsofof three
three arms
arms This morphology is called the fork formation,
spaced
spaced 120°120 apart,
◦ apart,similar to tothe
similar theblades
bladesofofaa mechanical
mechanical which corresponds to the 16-omino presented in
fan. fan.
TheThe centre shaft
center shaftofofthis
thisconnector
connector isis directly
directlyattached
attach‐ Figure 4(top-left). This formation can be made using four
ed toto aa positional servomotor
positional servo motorand and thethe ends
ends of blades
of its its blades
are I-tetrominoes, two O-tetrominoes and two I-tetrominoes,
are filleted to ease docking in conditions where systems
filleted to ease the docking in conditions where systems or one L-tetromino, one J-tetromino, one I-tetromino,
are not well aligned. Figure 11 demonstrates the plain and one O-tetromino. In this last case, corresponding to
are not well aligned. Figure 11 demonstrates the plain
dimensions of the male and female connectors where there the system shown in Figure 10(b), all Hinged-Tetros but
dimensions
is a 3 mm oftolerance
the male and female
designed between connectors
them. Once where
the the module in the I-tetromino shape use the LLR-hinged
theretwo is compatible
a 3 mm tolerance
faces mate,designed
the male between
connector them. Once
depresses dissection. LLL- and LLR-hinged dissections are needed
the atwolimit compatible
switch locatedfacesbehind mate, the male
the female connectorconnector
to stop in this combination to avoid the collision of some joints.
depresses a limitTheswitch
joint rotation. located
connection behind
finishes with athe female
rotation of The fork formation, useful for manipulation tasks, is an
approximately 60 ◦ of the male connector, thus locking the example of generating new morphologies in order to
connector to stop joint rotation. The connection finishes
two systems in place. The connection is kept secure as perform objectives that are far from the capabilities of a
with a rotation of approximately 60° of the male connec‐
the positional servomotor holds the docking mechanism single unit.
tor, in
thusthe locking the twoas systems
locked position long as the in robot
place.is The
poweredconnec‐
on.
tionDetails
is keptofsecure as the positional
the proposed docking system servomotor holds the
can be observed in 4. Prototyping
docking
Figure mechanism
9. in the locked position as long as the
In order to illustrate of intra- and inter-reconfigurabilities,
robot is powered on. Details of the proposed docking Figure 11. Plain view of the male and female connectors with tolerance
aindicated
prototype of Hinged-Tetro is built based on the CAD
system can be observed in Figure 9 design in Section 3. Figure 12 shows the prototype, where
Tolerance = 3 mm
every block is a cube with the dimension of 100 mm × 100
Ning Tan,
mmNicolas
× 100Rojas,
mm and Rajesh
theElara
totalMohan,
weightVincent
of theKee and Ricardo Sosa:
Hinged-Tetro 7
is 1.7 Nested Reconfigurable
kg. Each Robots:
wall of the Theory,
cubes Design,
is 5mm and Realization
thick. In
the prototyping, the shells, male connectors, brackets of
joint servo are fabricated using 3D printers with ABS
and PLA plastic materials and minimal lathe operations.
 3.3 Intra- and inter-reconfigurations in design joint of Hinged-Tetro is powered by a continuous rotation
servo (Herkulex Dongbu motor) with a stall torque of 24
Figure 10(a) presents the design of Hinged-Tetro in its kgf.cm. To change to any configuration, the corresponding
seven intra-reconfiguration shapes. An instance of inter- motor rotations to the predefined angles are realized by
reconfiguration is depicted in Figure 10(b). This morphol‐ controlling the rotation of every joint motor. The mobility
ogy is called the fork formation, which corresponds to the is realized by four omni-wheels (OW003, Robot-R-Us)
16-omino presented in Figure 4(top-left). This formation driven by two Sabertooth 2×25 motor drivers located in
can be made using four I-tetrominoes, two O-tetrominoes Block 2. Regarding the docking system, the centre shaft of
and two I-tetrominoes, or one L-tetromino, one J-tetromino, each male connector is attached to a micro servo
one I-tetromino, and one O-tetromino. In this last case, (HD-1800A) with a stall torque of 1.3 kg-cm. The whole
corresponding to the system shown in Figure 10(b), all system is supplied with 7.4V as VDD.
Hinged-Tetros but the module in the I-tetromino shape use
the LLR-hinged dissection. LLL- and LLR-hinged dissec‐ 5. Experimental results and analysis
tions are needed in this combination to avoid the collision
of some joints. The fork formation, useful for manipulation For performing intra-reconfiguration operations, the
tasks, is an example of generating new morphologies in presented prototype of Hinged-Tetro utilizes a finite-state
order to perform objectives that are far from the capabilities machine of seven states, one for each of the one-sided
of a single unit. tetrominoes. An example of the required movements for
the transition between states can be observed in Table 2. In
4. Prototyping the tests, Hinged-Tetro receives triggering commands from
an operator on a computer, then proceeds with the required
In order to illustrate intra- and inter-reconfigurabilities, a transition. All transformations are programmed to prevent
prototype of Hinged-Tetro is built based on the CAD crashes between blocks regardless of the current state of
design in Section 3. Figure 12 shows the prototype, where Hinged-Tetro. The snapshots of intra-reconfiguration
every block is a cube with the dimension of 100 mm × 100 showing the transformation of the prototype into all its
mm × 100 mm and the total weight of the Hinged-Tetro is intra-reconfiguration shapes following the sequence I → O
1.7 kg. Each wall of the cubes is 5 mm thick. In the proto‐ → T → Z → S → L → J → I are given in Figure 14.
typing, the shells, male connectors, brackets of joint servo To test the energy consumption of the joint motors for every
are fabricated using 3D printers with ABS and PLA plastic reconfiguration, we supply a 7.4V power source only to the
materials and minimal lathe operations. The remaining joint motors, which means the docking motors and wheels
components, such as the joint motors and docking servos, driven system are not connected to the source. The current
are selected commercial off-the-shelf. consumed by the joint motors when operating reconfigu‐
ration is measured. To do so, a 1 Ω resistor is placed
between the positive end of the power supply and the
Joint motor
Control board positive end of the joint motors so that the voltage drop
across the resistor is equal in magnitude to the current
demanded by the reconfiguration. The current is charac‐
terized by noisy peaks that are smoothed out by the use of
a moving average. Figure 15 shows the current demands of
transformation from S to T and from T to S. The power
required by the motors to maintain a shape is approximate‐
ly 1.48W (7.4V × 0.2A) . Additional power of about 1.96W
Block 4
Block 1 Male connector Block 3 Female
Omni Block 2
wheel
connector (7.4V × 0.4A) to 3.7W (7.4V × 0.5A) is needed to perform the
reconfiguration.
Figure 12. Prototype of Hinged-Tetro for testing the basic operations of intra-
reconfiguration Table 3 gives all the experimental data of time and current
consumption for reconfiguration from any one shape to the
The electronic system of Hinged-Tetro can be divided into others. In 42 experiments, all of them succeed in reconfi‐
four units: the main control unit, the reconfiguration unit, guration. From the table, it is found that reconfigurations
the mobility unit, and the docking unit, as shown in Figure from any shape to Shape T require the longest time, i.e., 2.67
13. The realization of the main control system located in seconds on average. Furthermore, Shape T takes the longest
Block 2 starts from a control an Arduino Mega 2560 time (i.e., 2.25 s) to change to other shapes. Moreover, the
microcontroller board with 256 KB of flash memory corresponding current consumptions are high in reconfi‐
running at 16 MHz. Communication with the host PC is gurations involving Shape T because it demands the most
established via UART TTL serial communication through joint rotations. In contrast, shape L consumes the shortest
a USB tether that also provides power for the control board. time and smallest current. The reconfigurations from other
The intra-reconfiguration is realized by the reconfiguration shapes to L are 1.25 seconds and 0.44 A in average, and
unit, which consists of three revolute joints. Each revolute those from L to other shapes spend 1.42 seconds and 0.41

8 Int J Adv Robot Syst, 2015, 12:110 | doi: 10.5772/60507

 A//
@)0&%J$*#!+-$&%'#%$-
BC/
,(2 ,(3 ,(4

VDD ,&$%-' ,&$%-' ,&$%-'

GND .&-&! .&-&! .&-&!unit
Reconfiguration
(&7$=$-I'#%$- JM1 JM2 JM3

6;2 Joint Joint Joint

;?/
motor @?/
motor motor
3'<8))='Mobility unit 6+7)!-&&-8' EF
.&-&!> 393: ST1 G6H
TXD RXD
2 wheel Sabertooth
!"#$%&'()*+
PC
motors 2×25 USB
3'<8))=' 6+7)!-&&-8' Arduino Mega
.&-&!> 393:
2 wheel Sabertooth DDD (+$%'0&%-!&='#%$-
motors 6;32×25 ••• Main control unit
ST2 /&01$%*' DDD /&01$%*'
Docking ••• Docking
.&-&! .&-&!
motor motor
/(2
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Docking unit
/&01$%*'#%$-
Figure
Figure 13. 13. Scheme
Scheme diagram
diagram ofofHinged-Tetro’s
Hinged-Tetro's electronic
electronicsystem
system.

A. The reason opposite to T is that the reconfigurations

1.2
involving L demand the fewest jointI rotations. Therefore,
Shape L is the priority choice for the task executions, and
S −> T T −> S
conversely Shape T should be avoided from the energy
1

point of view. This will be investigated in the planning

strategy of reconfiguration in future research. 0.8
Current (A)

0.6
J O
I
0.4

0.2

0
0 2 4 6 8 10 12
L J TO Time (s)

Figure 15. Current measurements during the reconfigurations of S → T and

Figure
T → S15. Current measurements during the reconfigurations of
S → T andT → S.

Inter-reconfiguration is shown using two Hinged-Tetro

6. Conclusion
Therobots
idea with the same design. An inter-reconfiguration
of nested reconfiguration had been introduced
L T scenario using two I-shaped Hinged-Tetros is presented in
S and discussed. Different from the conventional
Z Figure 16(a).method,
classification The lowerweHinged-Tetro
propose to moves
classifyleftwards and
the modular
is brought to a standstill at the sixth section. Then,
and reconfigurable robots into intra-, inter-, and nested the robot
moves vertically
reconfiguration with respect to the original motion
types.
direction to attach and dock with the upper robot at the
In ninth second.
this paper, a Another scenario is shown inrobot
mobile self-reconfigurable Figure 16(b)
module,
S Z where
called the I-shaped
Hinged-Tetro Hinged-Tetro
and conceived for moves straightly
the study and
of nested
docks to the T-shaped
reconfiguration, had been one presented.
in four seconds. The snapshots
Hinged-Tetro was
Figure 14. Intra-reconfiguration of the Hinged-Tetro following the validate
based thetheory
on the inter-reconfigurability
of hinged dissectionof theofproposed self-
polyominoes,
sequence: I → O → T → Z → S → L → J → I. particularly, on module.
reconfigurable the LLL- and LLR-hinged dissections
of four identical squares. It was shown that such
video game Tetris and its pieces, Hinged-Tetro is suitable The nestedare
geometries reconfigurable
the uniquerobotsmaximumhave a natural
wide range of
hinged
for game, education, lighting, and outreach purposes. application prospects. As far as we know,
dissections, up to congruence, that can be rotated into the existing
Figure 14. Intra-reconfiguration of the Hinged-Tetro following the all cleaning
one-sidedrobots cannot adapt
tetrominoes, the their
Tetrisconfigurations
pieces. An toinitial
the
sequence: I → O → T → Z → S → L → J → I environments. The 2D prototype presented
design of Hinged-Tetro was properly discussed and in this paper

Ning Tan, Nicolas Rojas, Rajesh Elara Mohan, Vincent Kee and Ricardo Sosa: 9
www.intechopen.com Nested Reconfigurable Robots: Theory, Design, and Realization: 9
Nested Reconfigurable Robots: Theory, Design, and Realization
 I O T Z S L J Avg.

1.5 s 2s 1s 2s 1s 2s 1.58 s
I n
0.3 A 0.5 A 0.6 A 0.6 A 0.4 A 0.5 A 0.45 A

1.5 s 2.5 s 1.5 s 2.5 s 1.5 s 2.5 s 1.92 s

O n
0.3 A 0.6 A 0.65 A 0.5 A 0.5 A 0.5 A 0.5 A

2s 2s 2s 2.5 s 2s 3s 2.25 s
T n
0.5 A 0.4 A 0.5 A 0.7 A 0.7 A 0.6 A 0.57 A

1s 2s 2.5 s 1s 1s 1s 1.42 s
Z n
0.6 A 0.65 A 0.5 A 0.5 A 0.3A 0.3A 0.48 A

2s 2.5 s 3s 1s 1s 1s 1.75 s
S n
0.4 A 0.5 A 0.6 A 0.5 A 0.3 A 0.3 A n

1s 1.5 s 3s 1s 1s 1s 1.42 s
L n
0.4 A 0.5 A 0.6 A 0.3A 0.3A 0.45 A 0.41 A

2s 3s 3s 1s 1s 1s 1.83 s
J n
0.5 A 0.6 A 0.6 A 0.3 A 0.3 A 0.45 A 0.46 A

1.58 s 2.08 s 2.67 s 1.25 s 1.67 s 1.25 s 1.67 s

Avg. n
0.45 A 0.49 A 0.57 A 0.48 A 0.45 A 0.44 A 0.44 A

Table 3. Time and current consumption required from one configuration to the others

could be improved to be a new generation of floor cleaning energy and time consumptions were reported, from which
system. On one hand, thanks to its intra-reconfigurability, we know that the Shape T was the most energy and time-
the individual robot could reconfigure into the shape that consuming configuration, and Shape L was the other way
fits the structure and size of the space so as to access the round.
area where a conventional cleaning robot, such as a
Roomba, cannot reach. On the other hand, thanks to the
inter-reconfigurability, multiple robots can combine into a T=0s T=0s
robotic formation that could be efficient for cleaning tasks
in large areas. Moreover, given the popularity of the video
game Tetris and its pieces, Hinged-Tetro is suitable for
T=6s
games, education, lighting, and outreach purposes.
T=4s
6. Conclusion
T=9s
The idea of nested reconfiguration has been introduced and
discussed. In contrast to the conventional classification
method, we propose classifying modular and reconfigura‐ (a) Formation 1: I → I (b) Formation 2: I → T

ble robots into intra-, inter-, and nested reconfiguration Figure 16. Snapshots of inter-reconfiguration of Hinged-Tetro.
Figure 16. Snapshots of inter-reconfiguration of Hinged-Tetro
types. transferred into a prototype. The experiments of intra-
[3] Robert Fitch, Kasper Stoy, Serge Kernbach, Radhika
and inter-reconfiguration were performed and verified to Nagpal, and Wei-Min Shen. Reconfigurable
be successful which proved the nested reconfigurability modular robotics. Robotics and Autonomous Systems,

In this paper, a mobile self-reconfigurable robot module, The resulting two-level reconfiguration
of the proposed module. Based on that, some further
analysis experiments checking current/energy and time
62(7):943–944, 2014. process in the
[4] S. Murata and H. Kurokawa. Self-reconfigurable
proposed concept implied several
consumptions were reported, from which we know that
technical
robots.
challenges in
IEEE Robotics Automation Magazine,
called Hinged-Tetro, conceived for the study of nested the Shape T was the most energy and time consuming 14(1):71–78, 2007.

hardware design, planning algorithms,

configuration and Shape L was the other way round.
and control
[5] M. Yim, S. Wei-Min, B. Salemi, D. Rus, M. Moll
reconfiguration, has been presented. Hinged-Tetro was The resulting two-level reconfiguration process in the
H., Lipson, E. Klavins, and G. Chirikjian. Modular

strategies. Some of the ongoing efforts of our group

self-reconfigurable robot systems [grand challenges
proposed concept implied several technical challenges
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in hardware design, planning algorithms, and control
included the design of a better docking
Sun and S. Ma. mechanism, thethe
14(1):43–52, 2007.
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particularly on the LLL- and LLR-hinged dissections of
[6] Y. epaddle mechanism: Towards
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Hinged-Tetros, etc.
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