Abstract
In this paper, we propose a lattice modular robot which is able to perform both binding and transformation on 2D plane using helical magnets. A helical magnet has a cylindrical shape with helically-arranged magnetic poles on its surface. Modules have a square shape when viewed from the top. Helical magnets are arranged on each sides of square. Modules can bind each other by attraction of each of helical magnets. In addition, helical magnets work as a linear actuator by rotating it. This enables a module sliding transformation from its neighbor modules to further its adjacent modules. There are problems of existing modular robots that unable binding and unable transformation because of mechanical interference and lack of space. This proposed modular robot realizes various self-reconfigurations through overcoming those problems.
