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When locked joint failure occurs in modular robots, the distribution of the failed modules will affect the manipulation capacity of the robot. In this article, a novel self\u2010reconfiguration method that utilizes only the remaining resources available to mitigate the damage caused by module joint failures is proposed. The key node configuration is searched by the particle swarm optimization (PSO) algorithm, and then the collision\u2010free reconfiguration path is planned by the rapidly exploring random trees (RRT) algorithm. The proposed method not only handles single\u2010module lockup failure but can also be expanded to multi\u2010module lockup failures, fully improving the fault tolerance of the modular robot. The method is deployed on the hardware, and the feasibility of the algorithm is verified by self\u2010reconfiguration experiments containing faulty modules.<\/jats:p>","DOI":"10.1002\/aisy.202300774","type":"journal-article","created":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T03:38:47Z","timestamp":1718249927000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Fault\u2010Tolerant Approach for Modular Robots through Self\u2010Reconfiguration"],"prefix":"10.1002","volume":"6","author":[{"given":"Jian","family":"Qi","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingzhu","family":"Lai","sequence":"additional","affiliation":[{"name":"School of Mathematics and Statistics Hainan Normal University  Haikou 571158 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiyuan","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ning","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Han","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Sui","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1960-6278","authenticated-orcid":false,"given":"Yanhe","family":"Zhu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,6,13]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"crossref","unstructured":"M.Goeller J.Oberlaender K.Uhl A.Roennau R.Dillmann in2012 IEEE Inter. 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