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Lava tubes on the surface of planets such as the Moon and Mars are given priority for human scientific expedition bases and ecological maintenance areas. However, obstacles such as collapses inside lava tubes have brought great challenges to the unmanned exploration and construction of lava tubes. Modular self-reconfiguration robots are ideal for surmounting obstacles and manipulating objects in unpredictable unstructured environments due to their versatility and reusability. This paper briefly introduces the hardware development of modular self-reconfiguration robots, focusing on the software and hardware research on modular self-reconfiguration robots in three application scenarios: moving and obstacle surmounting inside lava tubes, sampling and operation, and auxiliary support. Finally, the paper puts forward development suggestions for the challenges faced by self-reconfiguration robots in the construction of extraterrestrial lava tube bases.

, correspAuthors=Tin Lun LAM, authorNote=null, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Tin Lun LAM, Haobo LUO, Yuxiao TU, Guanqi LIANG, Da ZHAO, Ning DING, Xin SHI, Ke WANG), CN=ArticleExt(id=1157393126257251009, articleId=1157393071462863019, tenantId=1146029695717560320, journalId=1146032081894723586, language=CN, title=自重构机器人探索地外熔岩管的应用前景, columnId=1148708266483446458, journalTitle=前瞻科技, columnName=综述与述评, runingTitle=null, highlight=null, articleAbstract=

月球和火星等行星表面上的熔岩管被视为人类科学考察基地和生态维持区域的优先选址。然而，熔岩管内部存在的坍塌物等障碍为熔岩管的无人化探索和改造带来了极大的挑战。模块化自重构机器人以其多功能性和可复用性等优势，成为在不可预测的非结构化环境中越障和操作物体的理想选择。文章简要介绍了模块化自重构机器人概况，重点讲述了该类机器人在熔岩管内移动与越障、采样与操作、辅助支撑这3个场景中的软硬件研究和应用前景。最后针对自重构机器人建设地外熔岩管基地所面临的挑战提出发展建议。

, correspAuthors=林天麟, authorNote=null, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=alywgN6O5o8LZlGhxYUSyg==, magXml=9BI8gIEpaqSUad1Vp0XDxQ==, pdfUrl=null, pdf=pB0Y45erAvetz/RuQ03UFw==, pdfFileSize=5212685, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=op+9RzidX3raQY3njYSrzA==, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=5wuvDHzTEEN5ybdRUkdZuw==, mapNumber=null, authorCompany=null, fund=null, authors=, authorsList=林天麟, 罗浩波, 涂宇啸, 梁冠琪, 赵达, 丁宁, 石欣, 王科)}, authors=[Author(id=1242113550991294749, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=tllam@cuhk.edu.cn, emailSecond=null, emailThird=null, correspondingAuthor=1, authorType=1, ext={EN=AuthorExt(id=1242113551058403616, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, authorId=1242113550991294749, language=EN, stringName=Tin Lun LAM, firstName=Tin Lun, middleName=null, lastName=LAM, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=^{1, 2, †}, address=1. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
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2.深圳市人工智能与机器人研究院，深圳 518172, bio={"img":"Ojk9I3abXUBo+Up5D1MQnQ==","content":"

林天麟，香港中文大学（深圳）助理教授。机器人与智能制造国家地方联合工程实验室常务副主任，深圳市人工智能研究院智能机器人中心主任。主要从事多机器人系统、现场机器人和协作机器人等研究。出版学术专著2部，发表论文60余篇，授权发明专利70余件。电子信箱：tllam@cuhk.edu.cn。

"}, bioImg=Ojk9I3abXUBo+Up5D1MQnQ==, bioContent=

林天麟，香港中文大学（深圳）助理教授。机器人与智能制造国家地方联合工程实验室常务副主任，深圳市人工智能研究院智能机器人中心主任。主要从事多机器人系统、现场机器人和协作机器人等研究。出版学术专著2部，发表论文60余篇，授权发明专利70余件。电子信箱：tllam@cuhk.edu.cn。

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IEEE/ASME Transactions on Mechatronics, 2002, 7(4): 431-441., articleTitle=M-TRAN: Self-reconfigurable modular robotic system, refAbstract=null), Reference(id=1242113558910140790, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=10.1007/s10514-006-6475-7, pmid=null, pmcid=null, year=2006, volume=20, issue=2, pageStart=165, pageEnd=177, url=http://link.springer.com/10.1007/s10514-006-6475-7, language=null, rfNumber=[20], rfOrder=19, authorNames=Shen W M, Krivokon M, Chiu H, journalName=Autonomous Robots, refType=null, unstructuredReference=Shen W M, Krivokon M, Chiu H, et al. Multimode locomotion via SuperBot reconfigurable robots[J]. Autonomous Robots, 2006, 20(2): 165-177., articleTitle=Multimode locomotion via SuperBot reconfigurable robots, refAbstract=null), Reference(id=1242113558968861047, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2018, volume=48, issue=2, pageStart=143, pageEnd=176, url=null, language=null, rfNumber=[21], rfOrder=20, authorNames=刘永进, 余旻婧, 叶子鹏, journalName=中国科学: 信息科学, refType=null, unstructuredReference=刘永进, 余旻婧, 叶子鹏, 等. 自重构模块化机器人路径规划方法综述[J]. 中国科学: 信息科学, 2018, 48(2): 143-176., articleTitle=自重构模块化机器人路径规划方法综述, refAbstract=null), Reference(id=1242113559023387000, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2018, volume=48, issue=2, pageStart=143, pageEnd=176, url=null, language=null, rfNumber=[21], rfOrder=21, authorNames=Liu Y J, Yu M J, Ye Z P, journalName=Science China Information Sciences, refType=null, unstructuredReference=Liu Y J, Yu M J, Ye Z P, et al. Path planning for self-reconfigurable modular robots: A survey[J]. Science China Information Sciences, 2018, 48(2): 143-176. (in Chinese), articleTitle=Path planning for self-reconfigurable modular robots: A survey, refAbstract=null), Reference(id=1242113559094690169, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=10.1177/0278364904044409, pmid=null, pmcid=null, year=2004, volume=23, issue=9, pageStart=919, pageEnd=937, url=http://journals.sagepub.com/doi/10.1177/0278364904044409, language=null, rfNumber=[22], rfOrder=22, authorNames=Butler Z, Kotay K, Rus D, journalName=The International Journal of Robotics Research, refType=null, unstructuredReference=Butler Z, Kotay K, Rus D, et al. Generic decentralized control for lattice-based self-reconfigurable robots[J]. The International Journal of Robotics Research, 2004, 23(9): 919-937., articleTitle=Generic decentralized control for lattice-based self-reconfigurable robots, refAbstract=Previous work on self-reconfiguring modular robots has concentrated primarily on designing hardware and developing reconfiguration algorithms tied to specific hardware systems. In this paper, we introduce a generic model for lattice-based self-reconfigurable robots and present several generic locomotion algorithms that use this model. The algorithms presented here are inspired by cellular automata, using geometric rules to control module actions. The actuation model used is a general one, assuming only that modules can generally move over the surface of a group of modules. These algorithms can then be instantiated onto a variety of particular systems. Correctness proofs of many of the rule sets are also given for the generic geometry; this analysis can carry over to the instantiated algorithms to provide different systems with correct locomotion algorithms. We also present techniques for automated analysis that can be used for algorithms that are too complex to be easily analyzed by hand.), Reference(id=1242113559157604730, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2005, volume=null, issue=null, pageStart=179, pageEnd=null, url=null, language=null, rfNumber=[23], rfOrder=23, authorNames=Wu Q, Wang Y, Cao G, journalName=Lecture Notes in Computer Science, refType=null, unstructuredReference=Wu Q, Wang Y, Cao G, et al. Locomotion control of distributed self-reconfigurable robot based on cellular automata[M]// Lecture Notes in Computer Science. Berlin, Heidelberg: Springer, 2005: 179-188., articleTitle=Locomotion control of distributed self-reconfigurable robot based on cellular automata, refAbstract=null), Reference(id=1242113559220519291, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2004, volume=null, issue=null, pageStart=435, pageEnd=null, url=null, language=null, rfNumber=[24], rfOrder=24, authorNames=Butler Z, Rus D, Boissonnat J D, Burdick J, Golaberg K, journalName=Algorithmic Foundation of Robotics V, refType=null, unstructuredReference=Butler Z, Rus D. Distributed motion planning for 3D modular robots with unit-compressible modules[M]// Boissonnat J D, Burdick J, Golaberg K, et al. Algorithmic Foundation of Robotics V. Berlin, Heidelberg: Springer, 2004: 435-451., articleTitle=Distributed motion planning for 3D modular robots with unit-compressible modules, refAbstract=null), Reference(id=1242113559279239548, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=10.1177/0278364907085097, pmid=null, pmcid=null, year=2008, volume=27, issue=3/4, pageStart=331, pageEnd=343, url=http://journals.sagepub.com/doi/10.1177/0278364907085097, language=null, rfNumber=[25], rfOrder=25, authorNames=Fitch R, Butler Z, journalName=The International Journal of Robotics Research, refType=null, unstructuredReference=Fitch R, Butler Z. Million module March: Scalable locomotion for large self-reconfiguring robots[J]. The International Journal of Robotics Research, 2008, 27(3/4): 331-343., articleTitle=Million module March: Scalable locomotion for large self-reconfiguring robots, refAbstract=Self-reconfiguring robots have the potential to explore highly variable terrain, operating as parallel groups or combining to surmount large obstacles. If the modules are at a smaller scale, they may also be able to physically render arbitrary shapes in an interactive way. In order to realize these capabilities, groups with large numbers of modules must be used, and algorithms to control such large groups must be extremely scalable in order to be executed on simple modules. In this work, we present an algorithm for locomotion of lattice-based self-reconfiguring robots that uses constant memory per module with execution times that are sublinear in the number of modules. The algorithm is inspired by reinforcement learning and uses dynamic programming to plan module paths in parallel. We have also developed a novel localized cooperation scheme that allows the modules to move both without disconnecting the system and with small amounts of communication. The combined algorithm is able to direct locomotion over arbitrary obstacles, and due to continuous replanning the goal can be moved at any time to `joystick' the robot over the environment. The formulation of the goal used in the planning also encourages dynamic stability. We have developed both centralized and decentralized implementations in simulation, as well as an implementation for the Superbot system, and present empirical results showing the sublinear nature of our technique.), Reference(id=1242113559342154109, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2013, volume=null, issue=null, pageStart=74, pageEnd=81, url=null, language=null, rfNumber=[26], rfOrder=26, authorNames=Ababsa T, Djedi N, Duthen Y, journalName=Proceedings of the 2013 IEEE Symposium on Artificial Life (ALife), refType=null, unstructuredReference=Ababsa T, Djedi N, Duthen Y, et al. Decentralized approach to evolve the structure of metamorphic robots[C]// Proceedings of the 2013 IEEE Symposium on Artificial Life (ALife). Piscataway: IEEE Press, 2013: 74-81., articleTitle=Decentralized approach to evolve the structure of metamorphic robots, refAbstract=null), Reference(id=1242113559417651582, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=10.1177/0278364902021010835, pmid=null, pmcid=null, year=2002, volume=21, issue=10/11, pageStart=903, pageEnd=915, url=http://journals.sagepub.com/doi/10.1177/0278364902021010835, language=null, rfNumber=[27], rfOrder=27, authorNames=Yoshida E, Murata S, Kamimura A, journalName=International Journal of Robotics Research, refType=null, unstructuredReference=Yoshida E, Murata S, Kamimura A, et al. A self-reconfigurable modular robot[J]. International Journal of Robotics Research, 2002, 21(10/11): 903-915., articleTitle=A self-reconfigurable modular robot, refAbstract=In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory; the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed.), Reference(id=1242113559480566143, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2020, volume=null, issue=null, pageStart=3296, pageEnd=3303, url=null, language=null, rfNumber=[28], rfOrder=28, authorNames=Luo H, Li M, Liang G, journalName=Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), refType=null, unstructuredReference=Luo H, Li M, Liang G, et al. An obstacle-crossing strategy based on the fast self-reconfiguration for modular sphere robots[C]// Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 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Smaller, more numerous modules increase the adaptability of a given volume or mass of robot, allowing the aggregate robot to take on a wider variety of configurations, but do so at a cost of reducing the power and complexity budget of each module. Fewer, larger modules can incorporate more powerful actuators and stronger hinges, but at a cost of overspecializing the resulting robot in favor of corresponding uses. In this paper we describe a technique for coordinating the efforts of many tiny modules to achieve forces and movements larger than those possible for individual modules. In a broad sense, our work aims to make actuator capacity and range at least partly fungible by algorithm design and ensemble topology, rather than being immutable properties of a particular module design. An important aspect of this technique is its ability to bend complex and large-scale structures and to realize the equivalent of large-scale joints. By enabling scalable joints, and the “muscles” that could actuate larger structures, our work makes it more likely that modular robot ensembles can successfully be scaled up in number and down in size.), Reference(id=1242113560369758604, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1157393071462863019, doi=null, pmid=null, pmcid=null, year=2020, volume=null, issue=null, pageStart=3340, pageEnd=3347, url=null, language=null, rfNumber=[41], rfOrder=41, authorNames=Swissler P, Rubenstein M, journalName=Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), refType=null, unstructuredReference=Swissler P, Rubenstein M. ireAnt3D: A 3D self-climbing robot towards non-latticed robotic self-assembly[C]// Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 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