Modular reconfigurable robots in space applications
Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited for these conditions, including: the ability to serve as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will introduce such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.
Yim, M. H. ; Roufas, K. D. ; Duff, D. G. ; Zhang, Y. ; Eldershaw, C. ; Homans, S. B. Modular reconfigurable robots in space applications. Autonomous Robots. 2003 March; 14 (2): 225-237.