Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion

Modular robotics offers a promising approach for developing versatile and adaptive robotic systems capable of autonomous reconfiguration. This paper presents a novel modular robotic system in which each module is equipped with independent actuation, battery power, and control, enabling both individual mobility and coordinated locomotion. The system employs a hierarchical Central Pattern Generator (CPG) framework, where a low-level CPG governs the motion of individual modules, while a high-level CPG facilitates inter-module synchronization, allowing for seamless transitions between independent and collective behaviors.To validate the proposed system, we conduct both simulations in MuJoCo and hardware experiments, evaluating the system’s locomotion capabilities under various configurations. We first assess the fundamental motion of a single module, followed by two-module and four-module cooperative locomotion. The results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search-and-rescue operations, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential for mission success.