The DLAR Lab has submitted a paper titled “Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion” to IROS 2025. The paper, authored by Jiayu Ding, Rohit Jakkula, Tom Xiao, and Zhenyu Gan, introduces a novel modular robotic system that allows for both independent mobility and coordinated locomotion through a hierarchical Central Pattern Generator (CPG) framework. The system’s validation includes both simulations and hardware experiments, showcasing its robust and flexible locomotion capabilities. The work promises significant applications in fields such as search-and-rescue, environmental monitoring, and autonomous exploration.
The full paper and more details can be found on our GitHub: https://github.com/DLARlab/2025_Transformable_Robot
