Modular Robots

  • I-Ming ChenEmail author
  • Mark Yim
Part of the Springer Handbooks book series (SHB)


This chapter presents a discussion of modular robots from both an industrial and a research point of view. The chapter is divided into four sections, one focusing on existing reconfigurable modular manipulators typically in an industry setting (Sect. 22.2) and another focusing on self-reconfigurable modular robots typically in a research setting (Sect. 22.4). Both sections are sandwiched between the introduction and conclusion sections.

This chapter is focused on design issues. Rather than a survey of existing systems, it presents some of the existing systems in the context of a discussion of the issues and elements in industrial modular robotics and modular robotics research. The reader is encouraged to look at the references for further discussion on any of the presented topics.


Robotic System Parallel Robot Modular Robot Mechanical Interface Modular Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

assembly incidence matrix


cellular robotic system


computer numerical control




degree of freedom


genetic algorithm


microprocessor without interlocked pipeline stages


local product-of-exponential


reconfigurable modular manipulator system


simulated annealing


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.Department of Mechanical Engineering and Applied MechanicsUniversity of PennsylvaniaPhiladelphiaUSA

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