@Article{	  wei-min-shen2006multimode-locomotion-for-reconfigurable-robots,
  abstract	= {One of the most challenging issues for a self-sustaining
		  robotic system is how to use its limited resources to
		  accomplish a large variety of tasks. The scope of such
		  tasks could include transportation, exploration,
		  construction, inspection, maintenance,in-situ resource
		  utilization, and support for astronauts. This paper
		  proposes a modular and reconfigurable solution for this
		  challenge by allowing a robot to support multiple modes of
		  locomotion and select the appropriate mode for the task at
		  hand. This solution relies on robots that are made of
		  reconfigurable modules. Each locomotion mode consists of a
		  set of characteristics for the environment type, speed,
		  turning-ability, energy-efficiency, and recoverability from
		  failures. This paper demonstrates a solution using the
		  SuperBot robot that combines advantages from M-TRAN, CONRO,
		  ATRON, and other chain-based and lattice-based robots. At
		  the present, a single real SuperBot module can move, turn,
		  sidewind, maneuver, and travel on batteries up to 500 m on
		  carpet in an office environment. In physics-based
		  simulation, SuperBot modules can perform multimodal
		  locomotions such as snake, caterpillar, insect, spider,
		  rolling track, H-walker, etc. It can move at speeds of up
		  to 1.0 m/s on flat terrain using less than 6 W per module,
		  and climb slopes of no less 40 degrees.},
  author	= {Wei-Min Shen and Maks Krivokon and Harris Chiu and Jacob Everist and Michael Rubenstein and Jagadesh Venkatesh},
  journal	= {Autonomous Robots},
  keywords	= { modular, multifunctional and self-reconfigurable
		  robots, space robots, multimode gaits},
  number	= {2},
  pages		= {165--177},
  title		= {Multimode Locomotion for Reconfigurable Robots},
  volume	= {20},
  year		= {2006}
}