Modular robot self-reconfiguration method based on mutual assistance of meta-modules

Abstract

A modular robot self-reconfiguration method based on mutual assistance of meta-modules comprises the following steps: obtaining configuration information of a target configuration of a modular robot, including joint posture and connection mode; analyzing the configuration information to obtain an assembly sequence; comprehensively considering the configuration information, motion characteristics and mutual assistance characteristics of meta-modules, replacing the order of assembly blocking positions to the front by using a bubble algorithm, and constantly updating the entire assembly sequence until a suitable order is found; performing position changes of the meta-modules in order by using mutual assistance capabilities of the meta-modules; and filling assembly positions by sequentially performing the movement of the meta-modules according to the assembly sequence through mutual assistance of movement and rolling, until all the meta-modules are changed to the assembly positions, and finally the self-reconfiguration of the modular robot is completed. The application can give global movement capability to the auxiliary moving module, realize the self-reconfiguration of the modular robot, and avoid the problems of blocking and collision in the reconfiguration process.

Description

Technical Field

[0001] This invention relates to a robot reconfiguration method, specifically a modular robot self-reconfiguration method based on meta-module mutual assistance. Background Technology

[0002] Modular robot systems are a type of special robot composed of multiple homogeneous or heterogeneous modules with a certain degree of sensing capability, connected by mechanical or electromagnetic interfaces. By disconnecting or repositioning the interfaces and moving the modules, modular robots can be assembled into robots with different functions and configurations. This solves the problems of fixed structure and single function in traditional robots, enabling them to better adapt to complex tasks and unstructured environments. They possess advantages such as multifunctionality, high robustness, and scalability, attracting attention from the robotics and artificial intelligence fields and showing initial application prospects in industrial production, smart homes, aerospace, and other areas.

[0003] The configuration transformation capability of modular robots is the foundation of their advantages, and the basis for realizing this capability is the self-reconfiguration of modules. However, the self-reconfiguration problem of modular robots has been proven to be an NP-complete problem, which must be solved using search methods. Based on their mobility, modules can be divided into three categories: independent movement, relative movement, and assisted movement. Independent movement is represented by wheeled modules, where each module can independently change its position to complete self-reconfiguration. Research on self-reconfiguration algorithms for this type of module can be transformed into a simple multi-agent path planning problem. Related algorithms are quite mature, but the addition of wheeled or other moving parts creates significant structural redundancy, negatively impacting the overall operation and motion of the modular robot. Relative movement refers to modules moving on the surface of other modules, including sliding motion, tunneling motion, and spherical rolling, etc. The focus of research on self-reconfiguration algorithms for this type of module is on the parallel movement of a large number of modules to avoid conflicts and collisions. Some progress has been made, but in the design of components to achieve these movements, it is difficult to guarantee the reliability of the connections between modules. Assisted movement refers to the movement of a module that requires the assistance of other modules. These modules are usually regular in shape, reliably connected, and do not have redundant mechanical parts. They have high application potential and are worthy of further research and exploration.

[0004] Researchers have explored the self-reconfiguration problem of assisted mobility modules using search-based methods. However, due to the limited maneuverability of the modules, designing an effective heuristic function is difficult, and brute-force search only leads to computational explosion. External force-assisted methods utilize small robots, water flow, magnetic fields, etc., to achieve module movement, but these methods have stringent requirements for external forces and face significant problems at the 3D reconstruction level. Meta-module methods are currently a commonly used approach, achieving mobility similar to that of relative mobility modules through simple combinations of several modules. However, this method affects module miniaturization and may even disrupt the regularity of the modules. Therefore, achieving self-reconfiguration of assisted mobility modules is a hot and challenging issue in modular robot research. Summary of the Invention

[0005] To overcome existing technologies, this invention provides a modular robot self-reconfiguration method based on meta-module cooperation. This method endows auxiliary mobile modules with global mobility, realizing the self-reconfiguration of the modular robot and avoiding blocking and collision problems during the reconfiguration process.

[0006] A modular robot self-reconfiguration method based on meta-module cooperation includes the following steps:

[0007] S1. Obtain the configuration information of the modular robot target configuration, including joint posture and connection method;

[0008] S2. Analyze configuration information to obtain the assembly sequence;

[0009] Taking into account configuration information, the motion characteristics of meta-modules, and mutual assistance characteristics, the bubble algorithm is used to replace the order of assembly blocking positions to the front, and the entire assembly sequence is continuously updated until a suitable order is found.

[0010] S3. Utilize the mutual assistance capability of meta-modules to execute the position changes of meta-modules in sequence;

[0011] Through mutual assistance in movement and tumbling, the movement of the meta-modules is performed sequentially according to the assembly sequence to fill the assembly position until all meta-modules have changed to the assembly position, thus completing the self-reconfiguration of the modular robot.

[0012] Furthermore, the morphology of the modular robot in step S1 is obtained by modeling the topology of the combination of edges and vertices, and the configuration information is expressed as follows:

[0013] Each vertex contains a number, a superscript, and a subscript. The number represents the metamodule number, the superscript contains four digits, the first two and the last two digits represent the joint poses of the two basic modules that make up the metamodule, where J is the joint, and the subscript indicates the type of metamodule, using T and M to represent the rollr and the mover, respectively;

[0014] An edge represents a connection between meta-modules, which is represented by a triple (F... i ,F j ,ori) represents, where F i For the connector number of the docking module i, F j Let i be the connector number of the docking module j, where j > i, and ori represents the direction of module j relative to module i.

[0015] Furthermore, the specific process for obtaining the assembled sequence in step S2 is as follows:

[0016] S21. The assembly sequence is predetermined according to the layout characteristics of the target configuration. Then, without considering the mutual motion constraints of the sub-modules, the sub-modules are matched with the assembly positions one by one to obtain the initial assembly sequence.

[0017] S22. Traverse the initial assembly sequence and check the mutual constraints of the meta-modules. First, check if there is motion blocking or assembly obstacle when the mover assists the rollr. Second, check if there is effective assistance when the rollr assists the mover. If the meta-module cannot satisfy these mutual constraints, the assembly priority of the meta-module will be higher than the meta-module that blocks or assists it. Then, continue traversing the assembly sequence until all positions are traversed.

[0018] Furthermore, mutual assistance constraints refer to the characteristic of mutual assistance among meta-modules being reflected in motion constraints. Motion constraints can cause blocking and collisions. When a tumbling element needs to change direction with the help of a moving element, the following must be satisfied:

[0019] Position(m,M)

[0020] or

[0021] Position(M,m) and Exist(tp)

[0022] When a mover needs to rotate with the help of a tumbler, the following must be satisfied:

[0023] Position(T,m) and Cross(T,tp)

[0024] Where m represents the meta-module that needs assistance, M represents the presence of a mover in the assembly sequence, T represents the presence of a rollr in the assembly sequence, tp represents the target position, Position(x,y) represents the presence of x in the assembly sequence, and x is assembled before y, Exist(tp) represents that there are no obstacles in the extension area along at least one extension direction of the target position, the direction corresponding to the long side of the specified meta-module is the extension direction, and the area along this direction is the extension area, Cross(T,tp) represents that the extension area of ​​the rollr intersects with the extension area of ​​the target position, and the area extending to two unit positions along the intersection direction is unobstructed.

[0025] Furthermore, in step S3, the meta-modules cooperate to perform actions, namely, the mover assists the rollr in changing direction and the rollr assists the mover in flipping. During the planning of the assembly sequence, the position of the intersection point can be obtained. The intersection point refers to the intersection of the extension area of ​​the rollr and the extension area of ​​the target position. When this intersection information is obtained, the mover and the rollr will move to the position and complete the rotation, and then roll to the assembly position, and finally complete the self-reconstruction.

[0026] The advantages of this invention compared to the prior art are:

[0027] 1. This invention proposes a reconfiguration method based on mutual assistance among meta-modules for assisted mobile modular robot systems. Auxiliary modules have simple and regular structures, reliable connections, and low redundancy, making them highly applicable. However, due to the limited operational capabilities of the modules, existing search-based methods are not suitable for the reconfiguration problem of this type of modular robot, and other methods based on external forces or meta-modules also have certain drawbacks. The reconfiguration algorithm proposed in this invention can endow the assisted mobile modules with global mobility, realizing the self-reconfiguration of the modular robot.

[0028] 2. The core of this invention is the use of the concept of meta-module cooperation and centralized planning based on the bubble sort algorithm. The former resolves the conflict between the morphological regularity and mobility of meta-modules, achieving global reachability while ensuring the structural simplicity of the reconstructed units as much as possible. The latter fully considers the limitations of meta-module cooperation, using a bubble iteration algorithm to generate the module movement order, thereby avoiding blocking and collision problems.

[0029] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure and motion of the meta-module;

[0031] Figure 2 This is a schematic diagram of the mutual assistance principle of the meta-modules;

[0032] Figure 3 Configure the diagram for the configuration information;

[0033] Figure 4 Flowchart for assembly sequence planning;

[0034] Figure 5 This is a graph representing the mutual constraints of meta-modules.

[0035] Figure 6 This is a diagram illustrating the process of self-reconfiguration completed by the mutual assistance of the meta-modules in the embodiment. Detailed Implementation

[0036] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art.

[0037] Figures 1-5 A modular robot self-reconfiguration method based on meta-module cooperation is demonstrated, which includes the following steps:

[0038] S1. Obtain the configuration information of the modular robot target configuration, including joint posture and connection method;

[0039] S2. Analyze configuration information to obtain the assembly sequence;

[0040] Taking into account configuration information, the motion characteristics of meta-modules, and mutual assistance characteristics, the bubble algorithm is used to replace the order of assembly blocking positions to the front, and the entire assembly sequence is continuously updated until a suitable order is found.

[0041] S3. Utilize the mutual assistance capability of meta-modules to execute the position changes of meta-modules in sequence;

[0042] Through mutual assistance in movement and tumbling, the movement of the meta-modules is performed sequentially according to the assembly sequence to fill the assembly position until all meta-modules have changed to the assembly position, thus completing the self-reconfiguration of the modular robot.

[0043] Based on the above scheme, the motion mode and cooperative characteristics of the meta-modules are as follows: For a type of modular robot with single-axis rotation, two types of meta-modules are constructed, namely the mover and the tumbler, such as... Figure 1 a and Figure 1 As shown in c ( Figure 1 'a' represents the schematic diagram and hardware of the mobile device. Figure 1 Both the C-roller schematic and hardware are composed of two basic modules connected together, minimizing the disruption to the reconstructed unit's structure caused by the meta-module method. Functionally, both possess only limited motion capabilities, such as... Figure 1 b and Figure 1 As shown in d ( Figure 1 b represents the linear walking and turning movements of the mover. Figure 1 d represents the tumbling motion of the person walking in a straight line, which can be optionally... Figure 1 b and Figure 1 (The grid size in d is 100×100mm, and the element module size is 100×200×100mm);

[0044] The former can move freely on a flat surface but lacks the ability to flip over completely; the latter can roll forward but cannot change its direction of travel. Figure 2 a and Figure 2 As shown in c ( Figure 2 'a' indicates that the tumbling player cannot change its forward direction, and the double-headed arrow indicates the current direction of movement; Figure 2 (c) The mover cannot complete a full rotation. Then, addressing the motion deficiencies of the two types of meta-modules, the concept of mutual assistance is proposed: utilizing the redundant connecting surfaces of the modules, the mover can help the tumbler change its direction of travel, and the tumbler can help the mover perform a flip, such as... Figure 2 b and Figure 2 As shown in d ( Figure 2 b indicates that the mover assists the module in changing direction; the module is... Figure 2 The dark gray part in a; Figure 2 d indicates that the tumbler helps the module rotate, and the module is... Figure 2 (the dark gray part in c)

[0045] Optionally, Figure 2 In models b and 2d, the blue or black mesh size is 100×100mm, the meta-module size is 100×200×100mm, and the module size is 100×100×100mm. Through mutual assistance, the reconfigurable units of both modular robots possess global reachability. Finally, the characteristics and constraints of meta-module mutual assistance are analyzed, and a corresponding centralized planner is proposed to plan the movement of a large number of meta-module reconfiguration processes, avoiding conflicts and collisions and realizing the self-reconfiguration of the modular robot.

[0046] The specific reconstruction process is as follows:

[0047] Step S1 is a configuration representation method based on spatial module characteristics and connection graph method. The morphology of the modular robot is modeled by the combination of edges and vertices topology, and the configuration information is expressed as follows:

[0048] Each vertex contains a number, a superscript, and a subscript. The number represents the meta-module number, and the superscript contains four digits. The first two digits and the last two digits represent the joint poses of the two basic modules that make up the meta-module, respectively. The joint poses are defined as follows: Figure 3 As shown in a, Figure 3 'a' represents the joint pose layout settings, where J is the joint, the subscript indicates the type of the meta module, and T and M are used to represent the rollr and the mover, respectively.

[0049] An edge represents a connection between meta-modules, which is represented by a triple (F... i ,F j ,ori) represents, where F i For the connector number of the docking module i, F j Let i be the connector number of the docking module j, where j > i, and the numbering is as follows: Figure 3 As shown in b, the basic modules are divided into "+" and "-", where ori represents the direction of meta-module j relative to meta-module i. This is easily identifiable in a grid map, such as a bipartite map where movement is restricted to adjacent or diagonal grids. Direction settings are as follows: Figure 3 As shown in e, Figure 3 c represents a simplified schematic diagram of the space module, where the left side shows the simplified schematic diagram of the space module, and the right side shows the module that docks with the left side. For ease of explanation, ... Figure 3 d indicates the module connector number on the right that mates with the left side; the connection shown is defined as 00, and along... Figure 3 Rotating the direction indicated by e by 90 degrees yields 01, 10, and 11 respectively.

[0050] Obtaining the assembly sequence (assembly and auxiliary sequences) in step S2 requires comprehensive consideration of structural information, the motion characteristics of the meta-modules, and their mutual assistance characteristics. A bubble algorithm is proposed, which works by replacing the order of assembly blocking positions with those at the beginning and continuously updating the entire assembly sequence until a suitable order is found. The flowchart is as follows. Figure 4 As shown.

[0051] Suppose a modular robot consists of N sub-modules and there are N assembly positions to be filled. The movement sequence is to fill the position first and then fill the next position. The auxiliary sequence requires another sub-module to assist in filling the first position and another sub-module to assist in filling the second position.

[0052] The specific process for obtaining the assembled sequence in step S2 is as follows:

[0053] S21. The assembly sequence is predetermined according to the layout characteristics of the target configuration. Then, without considering the mutual motion constraints of the sub-modules, the sub-modules are matched with the assembly positions one by one to obtain the initial assembly sequence.

[0054] The process of obtaining the initial assembly sequence is as follows: First, define a coordinate system parallel to the coplanarity of the modules. Then, sort the assembly positions according to the y-axis coordinate from largest to smallest and the x-axis coordinate from largest to smallest. In this way, an initial assembly sequence is obtained.

[0055] S22. Traverse the initial assembly sequence and check the mutual constraints of meta-modules. First, check if there is motion blocking or assembly obstacle when the mover assists the rollr. Second, check if there is effective assistance when the rollr assists the mover. If a meta-module cannot satisfy these mutual constraints, the assembly priority of the position of that meta-module will be higher than the position of the meta-module that blocks or assists it. Then, continue traversing the assembly sequence until all positions have been traversed.

[0056] The mutual assistance constraint (meta-module motion characteristics) refers to the characteristic of mutual assistance among meta-modules being reflected in motion constraints. Motion constraints can cause blocking and collisions. When a tumbling element needs to change direction with the help of a moving element, the following must be satisfied:

[0057] Position(m,M)

[0058] or

[0059] Position(M,m) and Exist(tp)

[0060] The above means: Position(m,M): There is a mover in the assembly sequence whose assembly order is after the meta-module that needs assistance; Position(M,m): There is a mover in the assembly sequence whose assembly order is before the meta-module that needs assistance.

[0061] When a mover needs to rotate with the help of a tumbler, the following must be satisfied:

[0062] Position(T,m) and Cross(T,tp)

[0063] Where m represents the meta-module that needs assistance, M represents the mover in the assembly sequence, T represents the tumbler in the assembly sequence, tp represents the target position, and Position(x,y) means that x exists in the assembly sequence and the assembly order of x is before y. x represents m or M mentioned above, and y represents M or m mentioned above.

[0064] Exist(tp) indicates that there are no obstacles in the extended area at least in one direction from the target location, such as... Figure 5 As shown in the shaded area, the direction corresponding to the long side of the specified meta-module is the extension direction, and the area traversed along this direction is the extension region. Cross(T,tp) indicates that the extension region of the tumbling player intersects with the extension region of the target position. After the intersection, the region extending along the intersection direction to two unit positions is unobstructed, such as... Figure 5 The shaded area in b is shown.

[0065] In step S3, the meta-modules cooperate to perform actions, namely, the mover assists the tumbler in changing direction and the tumbler assists the mover in flipping. During the planning of the assembly sequence, the position of the intersection point can be obtained. The intersection point refers to the intersection of the tumbler's extended area and the target position's extended area. When this intersection information is obtained, the mover and the tumbler will move to that position and complete the rotation, then tumble to the assembly position, finally completing the self-reconstruction.

[0066] In this scenario, when the mover assists the rollr in changing direction, the mover needs to obtain the rollr's position information and target direction information. The rollr needs to pass through an inflection point to reach the target position. At the inflection point, the rollr will complete the direction adjustment with the help of the mover.

[0067] There are three situations for assisting completion: (1) the inflection point may coincide with the starting point or the ending point; (2) the starting point and the ending point may also need to change direction; (3) in order to avoid collision, assistance cannot occur at the ending point.

[0068] Therefore, the backward programming method is used to enable the mover to obtain information about the roller, specifically:

[0069] 1) Move Δx / Δy from the endpoint along the endpoint direction to the inflection point;

[0070] 2) If the starting direction and the ending direction are the same, the middle direction at the turning point will choose a different direction; if they are opposite, the middle direction will choose the initial direction; then, the tumbling person will turn from the ending direction to the middle direction with the help of the moving person.

[0071] 3) Move Δy / Δx from the inflection point along the middle direction to the starting point, and adjust the current direction to the initial direction if necessary;

[0072] 4) Depending on the choice of Δx and Δy, there are two paths. Choose the one that minimizes the movement of the mover.

[0073] Where: Δx is the difference in x-axis values ​​between the starting point and the ending point in absolute coordinates, and Δy is the difference in y-axis values ​​between the starting point and the ending point in absolute coordinates.

[0074] When the tumbler assists the mover in flipping, by Figure 5 As shown in b, the position of the tumbling aid mover is the intersection point in the diagram. Therefore, during the planning of the assembly sequence, the position of the intersection point can be obtained. When this information is obtained, the mover and tumbling aid move to that position and complete the rotation, then tumble to the assembly position, completing the self-reconfiguration of the meta-module. Specific Implementation

[0076] Simulation experiment: The centrally placed modules are reconstructed into a quadruped robot

[0077] Simulation process:

[0078] Step 1: Obtain the configuration information of the modular robot target configuration:

[0079] Quadruped robots are characterized by high stability and adaptability, making them suitable for environmental inspection and transportation. For example... Figure 6 The quadruped robot shown in figure a is a quadruped robot configuration composed of meta-modules. Figure 6 b is the assembly configuration diagram of the quadruped robot, which shows that all the components share a common surface. Figure 6 c is the configuration connection diagram of the quadruped robot, which includes configuration information.

[0080] Step 2: Analyze configuration information to obtain the assembly sequence:

[0081] By inputting the configuration information into the refactoring planner and analyzing refactoring conflicts and auxiliary requirements, a suitable move sequence can be obtained as shown below:

[0082] 7→8→5→2→4→6→1→3

[0083] The auxiliary sequence is as follows:

[0084] 4→4→4→4→2→2→M→M

[0085] Where M represents a redundant mover in the meta-module library.

[0086] Step 3: Utilize the inter-module cooperation capability to move modules sequentially.

[0087] Next, we will utilize meta-modules to collaboratively execute move and auxiliary sequences, with modules centrally located as follows: Figure 1 As shown, area A is the mover, and area B is the tumbling robot. The reconfiguration process of the quadruped robot is as follows: Figure 6 As shown in d. The final result is a quadruped robot that can be used for environmental exploration, object transport, and as a mobile base for robotic arms, etc.

[0088] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. A modular robot self-reconfiguration method based on meta-module mutual assistance, characterized in that: The process includes the following steps: S1, obtaining configuration information of the modular robot target configuration, including joint pose and connection method; S2. Analyze configuration information to obtain the assembly sequence; comprehensively consider configuration information, the motion characteristics of the modules and their mutual assistance characteristics, use the bubble algorithm to replace the order of the assembly blocking positions to the front, and continuously update the entire assembly sequence until a suitable order is found. S3. Utilize the mutual assistance capability of meta-modules to execute the position changes of meta-modules in sequence; Through mutual assistance in movement and tumbling, the movement of the meta-modules is performed sequentially according to the assembly sequence to fill the assembly position until all meta-modules have changed to the assembly position, thus completing the self-reconfiguration of the modular robot.

2. The modular robot self-reconfiguration method based on meta-module mutual assistance according to claim 1, characterized in that: In step S1, the morphology of the modular robot is modeled using a combination of edges and vertices. The configuration information is expressed as follows: each vertex contains a number, a superscript, and a subscript. The number represents the meta-module number, the superscript contains four digits (the first two and last two digits represent the joint poses of the two basic modules constituting the meta-module), and the subscript indicates the type of meta-module. and They represent the tumbling and the moving, respectively. An edge represents a connection between meta-modules, and this connection is formed by triples. It means that, among them, For docking meta module Connector number, For docking meta module Connector number, , Representation Meta Module Relative to meta-module The direction.

3. The modular robot self-reconfiguration method based on meta-module mutual assistance according to claim 1, characterized in that: The specific process for obtaining the assembled sequence in step S2 is as follows: S21. The assembly sequence is predetermined according to the layout characteristics of the target configuration. Then, without considering the mutual motion constraints of the sub-modules, the sub-modules are matched with the assembly positions one by one to obtain the initial assembly sequence. S22. Traverse the initial assembly sequence and check the mutual constraints of the meta-modules. First, check if there is motion blocking or assembly obstacle when the mover assists the rollr. Second, check if there is effective assistance when the rollr assists the mover. If the meta-module cannot satisfy these mutual constraints, the assembly priority of the meta-module will be higher than the meta-module that blocks or assists it. Then, continue traversing the assembly sequence until all positions are traversed.

4. The modular robot self-reconfiguration method based on meta-module mutual assistance according to claim 3, characterized in that: The process of obtaining the initial assembly sequence in step S21 is as follows: First, define a coordinate system parallel to the coplanarity of the modules, and then follow... Axis coordinates from largest to smallest The assembly positions are sorted from largest to smallest by axis coordinates to obtain an initial assembly sequence.

5. A modular robot self-reconfiguration method based on meta-module mutual assistance as described in claim 3 or 4, characterized in that: The mutual assistance constraint refers to the characteristic of mutual assistance among meta-modules being reflected in motion constraints. Motion constraints can cause blocking and collisions. When a tumbling element needs to change direction with the help of a moving element, the following must be satisfied: When a mover needs to rotate with the help of a tumbler, the following must be satisfied: in, This indicates a meta-module that requires assistance. This indicates the presence of a mover in the assembly sequence. This indicates the presence of tumblers in the assembly sequence. Indicates the target location. This indicates that it exists in the assembly sequence. ,and The assembly sequence is in Before, This indicates that there are no obstacles within the extended region in at least one direction from the target location. The direction corresponding to the long side of the specified meta-module is the extended direction, and the region traversed along this direction is the extended region. This indicates that the extended area of ​​the tumbling player intersects with the extended area of ​​the target location, and the area extending along the intersection direction to two unit positions is unobstructed.

6. A modular robot self-reconfiguration method based on meta-module mutual assistance as described in claim 1 or 5, characterized in that... At: In step S3, the meta-modules cooperate to perform actions, namely, the mover assists the rollr to change direction and the rollr assists the mover to flip. During the planning of the assembly sequence, the position of the intersection point can be obtained. The intersection point refers to the intersection of the extension area of ​​the rollr and the extension area of ​​the target position. When this intersection information is obtained, the mover and the rollr will move to the position and complete the rotation, and then roll to the assembly position, and finally complete the self-reconstruction.

7. The modular robot self-reconfiguration method based on meta-module mutual assistance according to claim 6, characterized in that: When the mover assists the tumbler in changing direction, the mover needs to obtain the tumbler's position information and target direction information. The tumbler needs to pass through a turning point to reach the target location. At the turning point, the tumbler will adjust its direction with the help of the mover.

8. The modular robot self-reconfiguration method based on meta-module mutual assistance according to claim 7, characterized in that: There are three situations for assisting completion: (1) the inflection point coincides with the starting point or the ending point; (2) the starting point and the ending point need to change direction; (3) to avoid collision, assistance cannot occur at the ending point. The backward programming method is used to enable the mover to obtain information about the roller, specifically: 1) Move from the endpoint along the endpoint direction to the inflection point; 2) If the starting direction and the ending direction are the same, the middle direction at the turning point will choose a different direction; if they are opposite, the middle direction will choose the initial direction; then, the tumbling person will turn from the ending direction to the middle direction with the help of the moving person. 3) Move from the inflection point along the middle direction to the starting point, and adjust the current direction to the initial direction; 4) According to and Given different choices, there are two paths; choose the one where the mover needs to move the shortest distance. in: It is the distance from the starting point to the ending point in absolute coordinates. Shaft difference value, It is the distance from the starting point to the ending point in absolute coordinates. Axis difference value.

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