Journal of Robotics / 2017 / Article / Tab 2

Corrigendum

Corrigendum to “Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures”

Table 2

Comparison of MSRR designs.

CategoryRobotShapeDOFCouplingNumber of Conn. facesRef.
Struct.Reconf.Form ftr.Locom.InterfaceActuatorActiv/MPassv./F

LatticeDetrmn.MiniCoord.Microunit ISquare2DLatch SMA2F2M15
LatticeDetrmn.MiniCoord.Microunit IICubical3DLatch SMA3F3M16

LatticeDetrmn.MacroCoord.Metamorphic IHexagon2DLockDC motor 3M 3F6–8
LatticeDetrmn.MacroCoord.Metamorphic IISquare2D LockDC motor 2M 2F7
LatticeDetrmn.MacroCoord.FractaTriangular 2DElect. mag. Current 3M 3F9
LatticeDetrmn.MacroCoord.VerticalCubical2D Key & lock 0417
LatticeDetrmn.MacroCoord.3D unit Cubical 3D HooksDC motor 6011, 12
LatticeDetrmn.MacroCoord.Molecule Cuboid 3D Elect. mag.Current0610, 102
LatticeDetrmn.MacroCoord.Crystalline Cuboid 2DKey & lock DC motor 2M2F18
LatticeDetrmn.MacroCoord.I-cubes Cubical 3DKey & lock Servo motor 2M6F13, 14
LatticeDetrmn.MacroCoord.TelecubesCubical 3D Swtc. mgnts. SMA 6 Dl. faces19
LatticeDetrmn.MacroCoord.ATRON Octagonal3D HooksDC motor4M4F30, 31
LatticeDetrmn.MacroCoord. EM-cube Cubical2D Elect. mag. Current 2220
LatticeDetrmn.MacroCoord. M-blocks 2DCubical 2D Perm. mag. 0621
LatticeDetrmn.MacroCoord. M-blocks 3D Cubical 3D Perm. mag. 0622

LatticeDetrmn.MacroMobile PetroTetrahedral 3D LatchManual 0432

LatticeStocst.MiniExtern. PebblesCubical 2D El-pm. mag. Current 4024
LatticeStocst.MiniExtern. Miche Cubical 3D Rot. pr. mg. motor 3 323

LatticeStocst.MacroExtern. Stochastic 2D Cubical2DElect. mag. Current 4025
LatticeStocst.MacroExtern. Stochastic 3DCubical 3DElect. mag. Current 6026
LatticeStocst.MacroExtern. Prog. parts Triangular 2D Perm. mag. DC motor 3027
LatticeStocst.MacroExtern. X-botCubical 2D Perm. mag. SMA 4028, 29

ChainDetrmn.MacroMobileCEBOT ICuboid3DLatch SMA 1M 1F33
ChainDetrmn.MacroMobileCEBOT IICuboid3DLatch DC motor 1M1F34
ChainDetrmn.MacroMobile ACM-R1Rectangle2DLatch Manual 0235
ChainDetrmn.MacroMobile ACM-R2Rectangle3DLatch Manual 0236
ChainDetrmn.MacroMobile ACM-R3Rectangle3DLatch Manual 0237
ChainDetrmn.MacroMobileMillibotElliptical2DLatchSMA 1M1F38
ChainDetrmn.MacroMobile UNI-RoverCylind. arm3DLatchServo motor11103
ChainDetrmn.MacroMobileAmoeba - ICuboid3D Latch Manual 0239, 40
ChainDetrmn.MacroMobile JL-1Trapezoid3DLatchDC motor1M1F41
ChainDetrmn.MacroMobile JL-2Trapezoid3DGripperDC motor 1M 1F42
ChainDetrmn.MacroMobileThorCuboid. arm3DGripperDC motor 1 043
ChainDetrmn.MacroMobileSteeringCuboid2DLatch1M1F104

ChainDetrmn.MacroCoord.PolypodCubical3DLatch Manual 0644
ChainDetrmn.MacroCoord.CONROCuboid3DLatchSMA1M 3F45–48
ChainDetrmn.MacroCoord.Polybot ICubical3DLatchManual1M 1F50
ChainDetrmn.MacroCoord.Polybot IICubical3DLatchSMA1M 1F51
ChainDetrmn.MacroCoord.Polybot IIICubical3DLatchSMA1M 1F51
ChainDetrmn.MacroCoord.YamorSemicylnd.3DVelcrosManual 0454
ChainDetrmn.MacroCoord.GZ-1Cubic3DLatchManual 0453
ChainDetrmn.MacroCoord.TransmoteCubic3DKey & lockManual1M2F52
ChainDetrmn.MacroCoord.ModREDCuboid3DLatchSolenoid 2 Dl. faces49

HybridDetrmn.MacroMobile S-BOTCylindrical3DGrippermotor 1 155–59
HybridDetrmn.MacroMobileM3 L shaped 3D Hooks DC motor 3 DL. conn.63
HybridDetrmn.MacroMobileM3 express L shaped 3D Latch SMA, servo 3 DL. conn.64
HybridDetrmn.MacroMobile iMobotCuboidal 3DLatchManual 0665
HybridDetrmn.MacroMobileSMORESCubical3DPerm. magDC motor3167
HybridDetrmn.MacroMobile TrimobotHexagonal 3D HooksDC motors 1M 6F68

HybridDetrmn.MacroCoord. M-Tran ISemicylnd.3DPerm. magSMA6269, 105
HybridDetrmn.MacroCoord. M-Tran IISemicylnd.3DPerm. magSMA 6271, 72
HybridDetrmn.MacroCoord. M-Tran IIISemicylnd.3DHooksDC motor 6273
HybridDetrmn.MacroCoord.SuperbotCuboid3DLatchManual 0674, 75
HybridDetrmn.MacroCoord. Molecubes Cubical 3D Elect. mag. Current 6077
HybridDetrmn.MacroCoord.CKBotCubical3DPerm. magnetsManual0476
HybridDetrmn.MacroCoord. UBotCubical3DHooksDC motor2278–80
HybridDetrmn.MacroCoord. RoombotsCuboidal3DLatchManual0–100–1081
HybridDetrmn.MacroCoord. NeurobotCubical3DLatchDC motor1M1F5
HybridDetrmn.MacroCoord. SoldercubesCubical 3DBinder mat. Current 6083, 84

TrussDetrmn.MacroCoord.TetrobotCylindrical3DSpherical jnt.Manual 2M3F85, 86
TrussDetrmn.MacroCoord.ORTHO-BOTLinact3DSplit toroidManual0287
TrussDetrmn.MacroCoord.Odin Cylindrical 3D CCP jnt. Manual 2M 12F88
TrussDetrmn.MacroCoord.MorphoCubical3DCubic jnt. Manual 1 689
TrussDetrmn.MacroCoord.Shape shift.Amorphous3D 3-way pipe Manual2M 3F91
TrussDetrmn.MacroCoord. HingeCylindrical3D 18-axis node Manual 2M 18F90
TrussDetrmn.MacroCoord.Factory Flr.Cylindrical3DGrippersCouples6M2F92

Free Fr.Detrmn.MicroCoord.MEMSL shaped2DAlignmentVoltage100, 101

Free Fr.Detrmn.MiniCoord.ClaytronicsCylindrical2DElectr. mag.Current24094–96
Free Fr.Detrmn.MiniCoord.CatomCylindrical2DElectrodesVoltage8099

Free Fr.Detrmn.MacroCoord.SlimebotCylindrical2DVelcrosPnu. air cyld.0697, 98
Free Fr.Detrmn.MacroCoord.Transform.Cylindrical2DPerm. mag. 6293

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