Self-reconfigurable robot is a complex system composed of multiple modular robots. Aiming at high efficiency and low energy consumption of self-reconfigurable robot configuration transformation, a self-reconfiguration strategy based on module mapping of the common parts is proposed. This strategy describes the configuration of the robot in the form of a graph, and a method to determine the central node of configuration is proposed. The central node module as the starting node for comparison of different configurations, and the common part between the two configurations is reserved. Then the module closest to the target module is searched, the target configuration is reconfigured from the inside to the outside with the minimum energy consumption constraint. Finally, based on the experiment results, compared with other self-reconfiguration strategies, the proposed self-reconfiguration strategy reduces the times of reconfiguration operations and improves the reconfiguration efficiency.

中文翻译：

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模块化球形机器人自重构策略研究

自重构机器人是由多个模块化机器人组成的复杂系统。针对自重构机器人构型变换的高效、低能耗问题，提出了一种基于通用部件模块映射的自重构策略。该策略以图的形式描述了机器人的配置，并提出了一种确定配置中心节点的方法。中心节点模块作为不同配置比较的起始节点，保留两种配置的共同部分。然后搜索离目标模块最近的模块，以最小能耗约束从内向外重新配置目标配置。最后，根据实验结果，