1 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU2 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU
This paper introduces a new class of modular robots, called: “layered heterogeneous modular robots”, which is a type of modular robot, where the functionality of a robot is modularized into three layers of heterogeneous modules: mechanics, actuation and electronics. This novel approach may make it possible to create dynamic, power-efficient and robust locomotive modular robots, extending the usability of modular robots. Early tests show that the system is able to perform dynamic locomotion with speeds up to 11.8cm/sec with a specific resistance of 9.65. Also static structures have been constructed, forming a tower that is able to withstand a load of 29 times its own weight placed on top of the tower, without any power consumption. These tests show that the system is comparable in performance to those of non-modular robots.