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

Table 2

Comparison of MSRR designs.

Category				Robot	Shape	DOF	Coupling		Number of Conn. faces		Ref.
Struct.	Reconf.	Form ftr.	Locom.				Interface	Actuator	Activ/M	Passv./F
Lattice	Detrmn.	Mini	Coord.	Microunit I	Square	2D	Latch	SMA	2F	2M	15
Lattice	Detrmn.	Mini	Coord.	Microunit II	Cubical	3D	Latch	SMA	3F	3M	16
Lattice	Detrmn.	Macro	Coord.	Metamorphic I	Hexagon	2D	Lock	DC motor	3M	3F	6–8
Lattice	Detrmn.	Macro	Coord.	Metamorphic II	Square	2D	Lock	DC motor	2M	2F	7
Lattice	Detrmn.	Macro	Coord.	Fracta	Triangular	2D	Elect. mag.	Current	3M	3F	9
Lattice	Detrmn.	Macro	Coord.	Vertical	Cubical	2D	Key & lock	—	0	4	17
Lattice	Detrmn.	Macro	Coord.	3D unit	Cubical	3D	Hooks	DC motor	6	0	11, 12
Lattice	Detrmn.	Macro	Coord.	Molecule	Cuboid	3D	Elect. mag.	Current	0	6	10, 102
Lattice	Detrmn.	Macro	Coord.	Crystalline	Cuboid	2D	Key & lock	DC motor	2M	2F	18
Lattice	Detrmn.	Macro	Coord.	I-cubes	Cubical	3D	Key & lock	Servo motor	2M	6F	13, 14
Lattice	Detrmn.	Macro	Coord.	Telecubes	Cubical	3D	Swtc. mgnts.	SMA	6 Dl. faces		19
Lattice	Detrmn.	Macro	Coord.	ATRON	Octagonal	3D	Hooks	DC motor	4M	4F	30, 31
Lattice	Detrmn.	Macro	Coord.	EM-cube	Cubical	2D	Elect. mag.	Current	2	2	20
Lattice	Detrmn.	Macro	Coord.	M-blocks 2D	Cubical	2D	Perm. mag.	—	0	6	21
Lattice	Detrmn.	Macro	Coord.	M-blocks 3D	Cubical	3D	Perm. mag.	—	0	6	22
Lattice	Detrmn.	Macro	Mobile	Petro	Tetrahedral	3D	Latch	Manual	0	4	32
Lattice	Stocst.	Mini	Extern.	Pebbles	Cubical	2D	El-pm. mag.	Current	4	0	24
Lattice	Stocst.	Mini	Extern.	Miche	Cubical	3D	Rot. pr. mg.	motor	3	3	23
Lattice	Stocst.	Macro	Extern.	Stochastic 2D	Cubical	2D	Elect. mag.	Current	4	0	25
Lattice	Stocst.	Macro	Extern.	Stochastic 3D	Cubical	3D	Elect. mag.	Current	6	0	26
Lattice	Stocst.	Macro	Extern.	Prog. parts	Triangular	2D	Perm. mag.	DC motor	3	0	27
Lattice	Stocst.	Macro	Extern.	X-bot	Cubical	2D	Perm. mag.	SMA	4	0	28, 29
Chain	Detrmn.	Macro	Mobile	CEBOT I	Cuboid	3D	Latch	SMA	1M	1F	33
Chain	Detrmn.	Macro	Mobile	CEBOT II	Cuboid	3D	Latch	DC motor	1M	1F	34
Chain	Detrmn.	Macro	Mobile	ACM-R1	Rectangle	2D	Latch	Manual	0	2	35
Chain	Detrmn.	Macro	Mobile	ACM-R2	Rectangle	3D	Latch	Manual	0	2	36
Chain	Detrmn.	Macro	Mobile	ACM-R3	Rectangle	3D	Latch	Manual	0	2	37
Chain	Detrmn.	Macro	Mobile	Millibot	Elliptical	2D	Latch	SMA	1M	1F	38
Chain	Detrmn.	Macro	Mobile	UNI-Rover	Cylind. arm	3D	Latch	Servo motor	1	1	103
Chain	Detrmn.	Macro	Mobile	Amoeba - I	Cuboid	3D	Latch	Manual	0	2	39, 40
Chain	Detrmn.	Macro	Mobile	JL-1	Trapezoid	3D	Latch	DC motor	1M	1F	41
Chain	Detrmn.	Macro	Mobile	JL-2	Trapezoid	3D	Gripper	DC motor	1M	1F	42
Chain	Detrmn.	Macro	Mobile	Thor	Cuboid. arm	3D	Gripper	DC motor	1	0	43
Chain	Detrmn.	Macro	Mobile	Steering	Cuboid	2D	Latch	—	1M	1F	104
Chain	Detrmn.	Macro	Coord.	Polypod	Cubical	3D	Latch	Manual	0	6	44
Chain	Detrmn.	Macro	Coord.	CONRO	Cuboid	3D	Latch	SMA	1M	3F	45–48
Chain	Detrmn.	Macro	Coord.	Polybot I	Cubical	3D	Latch	Manual	1M	1F	50
Chain	Detrmn.	Macro	Coord.	Polybot II	Cubical	3D	Latch	SMA	1M	1F	51
Chain	Detrmn.	Macro	Coord.	Polybot III	Cubical	3D	Latch	SMA	1M	1F	51
Chain	Detrmn.	Macro	Coord.	Yamor	Semicylnd.	3D	Velcros	Manual	0	4	54
Chain	Detrmn.	Macro	Coord.	GZ-1	Cubic	3D	Latch	Manual	0	4	53
Chain	Detrmn.	Macro	Coord.	Transmote	Cubic	3D	Key & lock	Manual	1M	2F	52
Chain	Detrmn.	Macro	Coord.	ModRED	Cuboid	3D	Latch	Solenoid	2 Dl. faces		49
Hybrid	Detrmn.	Macro	Mobile	S-BOT	Cylindrical	3D	Gripper	motor	1	1	55–59
Hybrid	Detrmn.	Macro	Mobile	M^3	L shaped	3D	Hooks	DC motor	3 DL. conn.		63
Hybrid	Detrmn.	Macro	Mobile	M^3 express	L shaped	3D	Latch	SMA, servo	3 DL. conn.		64
Hybrid	Detrmn.	Macro	Mobile	iMobot	Cuboidal	3D	Latch	Manual	0	6	65
Hybrid	Detrmn.	Macro	Mobile	SMORES	Cubical	3D	Perm. mag	DC motor	3	1	67
Hybrid	Detrmn.	Macro	Mobile	Trimobot	Hexagonal	3D	Hooks	DC motors	1M	6F	68
Hybrid	Detrmn.	Macro	Coord.	M-Tran I	Semicylnd.	3D	Perm. mag	SMA	6	2	69, 105
Hybrid	Detrmn.	Macro	Coord.	M-Tran II	Semicylnd.	3D	Perm. mag	SMA	6	2	71, 72
Hybrid	Detrmn.	Macro	Coord.	M-Tran III	Semicylnd.	3D	Hooks	DC motor	6	2	73
Hybrid	Detrmn.	Macro	Coord.	Superbot	Cuboid	3D	Latch	Manual	0	6	74, 75
Hybrid	Detrmn.	Macro	Coord.	Molecubes	Cubical	3D	Elect. mag.	Current	6	0	77
Hybrid	Detrmn.	Macro	Coord.	CKBot	Cubical	3D	Perm. magnets	Manual	0	4	76
Hybrid	Detrmn.	Macro	Coord.	UBot	Cubical	3D	Hooks	DC motor	2	2	78–80
Hybrid	Detrmn.	Macro	Coord.	Roombots	Cuboidal	3D	Latch	Manual	0–10	0–10	81
Hybrid	Detrmn.	Macro	Coord.	Neurobot	Cubical	3D	Latch	DC motor	1M	1F	5
Hybrid	Detrmn.	Macro	Coord.	Soldercubes	Cubical	3D	Binder mat.	Current	6	0	83, 84
Truss	Detrmn.	Macro	Coord.	Tetrobot	Cylindrical	3D	Spherical jnt.	Manual	2M	3F	85, 86
Truss	Detrmn.	Macro	Coord.	ORTHO-BOT	Linact	3D	Split toroid	Manual	0	2	87
Truss	Detrmn.	Macro	Coord.	Odin	Cylindrical	3D	CCP jnt.	Manual	2M	12F	88
Truss	Detrmn.	Macro	Coord.	Morpho	Cubical	3D	Cubic jnt.	Manual	1	6	89
Truss	Detrmn.	Macro	Coord.	Shape shift.	Amorphous	3D	3-way pipe	Manual	2M	3F	91
Truss	Detrmn.	Macro	Coord.	Hinge	Cylindrical	3D	18-axis node	Manual	2M	18F	90
Truss	Detrmn.	Macro	Coord.	Factory Flr.	Cylindrical	3D	Grippers	Couples	6M	2F	92
Free Fr.	Detrmn.	Micro	Coord.	MEMS	L shaped	2D	Alignment	Voltage	—	—	100, 101
Free Fr.	Detrmn.	Mini	Coord.	Claytronics	Cylindrical	2D	Electr. mag.	Current	24	0	94–96
Free Fr.	Detrmn.	Mini	Coord.	Catom	Cylindrical	2D	Electrodes	Voltage	8	0	99
Free Fr.	Detrmn.	Macro	Coord.	Slimebot	Cylindrical	2D	Velcros	Pnu. air cyld.	0	6	97, 98
Free Fr.	Detrmn.	Macro	Coord.	Transform.	Cylindrical	2D	Perm. mag.	—	6	2	93