Design and Implementation of a Multi-Unit Modular Robotic System with Configurational and Functional Adaptability

This study presents the design and implementation of a modular, multi-unit reconfigurable robotic system engineered for high adaptability in complex and unpredictable environments. Unlike conventional robots, this system leverages modularity and configurable connectivity to perform effectively across varied terrains, making it suitable for applications such as disaster response and environmental exploration. The proposed robot consists of multiple independently operable units connected by specialized joints that enable versatile movement and robust stability, even under challenging conditions. Each unit integrates three rotational joints, inspired by animal limb mechanics, to enhance mobility while minimizing energy consumption. A custom control system was developed to manage unit-to-unit communication and cooperative movement, utilizing an ESP32-S3 mainboard and a multi-layer communication protocol that enables synchronized task execution across configurations. Experimental results demonstrate the robot's ability to operate as single units or in multi-unit configurations, exhibiting adaptive movement and structural integrity across diverse operational scenarios. This multi-unit modular robot offers promising advancements in reconfigurable robotics, enabling potential applications in various industrial and exploration fields.