{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:02:29Z","timestamp":1760346149285},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2010,6,13]],"date-time":"2010-06-13T00:00:00Z","timestamp":1276387200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Neural Comput & Applic"],"published-print":{"date-parts":[[2010,9]]},"DOI":"10.1007\/s00521-010-0387-3","type":"journal-article","created":{"date-parts":[[2010,6,12]],"date-time":"2010-06-12T02:23:37Z","timestamp":1276309417000},"page":"787-805","source":"Crossref","is-referenced-by-count":24,"title":["Anatomy-based organization of morphology and control in self-reconfigurable modular robots"],"prefix":"10.1007","volume":"19","author":[{"given":"David Johan","family":"Christensen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jason","family":"Campbell","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kasper","family":"Stoy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2010,6,13]]},"reference":[{"key":"387_CR1","doi-asserted-by":"crossref","unstructured":"Ashley-Rollman M, Goldstein S, Lee P, Mowry T, Pillai P (2007) Meld: a declarative approach to programming ensembles. In: Proceedings of the IEEE international conference on intelligent robots and systems (IROS \u201907), pp 2794\u20132800","DOI":"10.1109\/IROS.2007.4399480"},{"key":"387_CR2","doi-asserted-by":"crossref","unstructured":"Bhat P, Kuffner J, Goldstein S, Srinivasa S (2006) Hierarchical motion planning for self-reconfigurable modular robots. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS \u201906), pp 886\u2013891","DOI":"10.1109\/IROS.2006.281742"},{"key":"387_CR3","doi-asserted-by":"crossref","unstructured":"Bojinov H, Casal A, Hogg T (2000) Emergent structures in modular self-reconfigurable robots. In: Proceedings of the IEEE\/RSJ international conference on robotics & automation (ICRA\u201900), pp 1734\u20131741","DOI":"10.1109\/ROBOT.2000.844846"},{"key":"387_CR4","doi-asserted-by":"crossref","unstructured":"Bongard J (2002) Evolving modular genetic regulatory networks. In: Proceedings of congress on evolutionary computation (CEC \u201902), vol 2, pp 1872\u20131877","DOI":"10.1109\/CEC.2002.1004528"},{"key":"387_CR5","doi-asserted-by":"crossref","unstructured":"Brandt D, Christensen DJ, Lund HH (2007) ATRON robots: versatility from self-reconfigurable modules. In: Proceedings of the IEEE international conference on mechatronics and automation (ICMA\u201907). Harbin, China, pp 2254\u20132260","DOI":"10.1109\/ICMA.2007.4303511"},{"key":"387_CR6","doi-asserted-by":"crossref","unstructured":"Bueno-Barrachina J, Ca nas Pe\u00f1uelas C, Catalan-Izquierdo S, Cavall\u00e9-Ses\u00e9 F (2009) Capacitance evaluation on perpendicular plate capacitors by means of finite element analysis. In: Proceedings of international conference on renewable energies and power quality (ICREPQ\u201909)","DOI":"10.24084\/repqj07.452"},{"key":"387_CR7","doi-asserted-by":"crossref","unstructured":"Butler Z, Rus D (2003) Distributed locomotion algorithms for self-reconfigurable robots operating on rough terrain. In: Proceedings of IEEE international symposium on computational intelligence in robotics and automation (CIRA\u201903), pp 880\u2013885","DOI":"10.1109\/CIRA.2003.1222296"},{"key":"387_CR8","doi-asserted-by":"crossref","first-page":"299","DOI":"10.1177\/0278364907085561","volume":"27","author":"J Campbell","year":"2008","unstructured":"Campbell J, Pillai P (2008) Collective actuation. Int J Robotics Res 27:299\u2013314","journal-title":"Int J Robotics Res"},{"issue":"3","key":"387_CR9","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1023\/A:1008985810481","volume":"8","author":"A Castano","year":"2000","unstructured":"Castano A, Shen W-M, Will P (2000) Conro: towards deployable robots with inter-robot metamorphic capabilities. Auton Robots 8(3):309\u2013324","journal-title":"Auton Robots"},{"key":"387_CR10","doi-asserted-by":"crossref","unstructured":"Chirikjian G (1994) Kinematics of a metamorphic robotic system. In: Proceedings of the IEEE international conference on robotics and automation, pp 449\u2013455","DOI":"10.1109\/ROBOT.1994.351256"},{"key":"387_CR11","doi-asserted-by":"crossref","unstructured":"Christensen DJ (2006) Evolution of shape-changing and self-repairing control for the ATRON self-reconfigurable robot. In: Proceedings of the IEEE international conference on robotics and automation (ICRA\u201906). Orlando, FL, pp 2539\u20132545","DOI":"10.1109\/ROBOT.2006.1642084"},{"key":"387_CR12","doi-asserted-by":"crossref","unstructured":"Christensen DJ, Campbell J (April 2007) Locomotion of miniature catom chains: Scale effects on gait and velocity. In: Proceedings of the IEEE international conference on robotics and automation (ICRA\u201907). Rome, Italy, pp 2254\u20132260","DOI":"10.1109\/ROBOT.2007.363655"},{"key":"387_CR13","doi-asserted-by":"crossref","unstructured":"Fukuda T, Nakagawa S (1988) Dynamically reconfigurable robotic system. In: Proceedings of the IEEE international conference on robotics & automation (ICRA\u201988), pp 1581\u20131586","DOI":"10.1109\/ROBOT.1988.12291"},{"key":"387_CR14","unstructured":"Fukuda T, Nakagawa S, Kawauchi Y, Buss M (1988) Self organizing robots based on cell structures-cebot. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS\u201988), pp 145\u2013150"},{"key":"387_CR15","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1142\/2080","volume-title":"Cellular robotics and micro robotic systems","author":"T Fukuda","year":"1994","unstructured":"Fukuda T, Ueyama T (1994) Cellular robotics and micro robotic systems, vol 10. World Scientific Publishing, Singapore, p 38"},{"key":"387_CR16","unstructured":"Garcia RFM, Schultz UP, Stoy K (2009) On the efficiency of local and global communication in modular robots. In: Proceedings of the IEEE\/RJS international conference on intelligent robots and systems (IROS\u201909), pp 1502\u20131508"},{"issue":"6","key":"387_CR17","first-page":"99","volume":"38","author":"S Goldstein","year":"2005","unstructured":"Goldstein S, Campbell J, Mowry T (2005) Programmable matter. Comput Aided Design 38(6):99\u2013101","journal-title":"Comput Aided Design"},{"key":"387_CR18","unstructured":"Goldstein S, Mowry T (2004) Claytronics: a scalable basis for future robots. In: Robosphere"},{"key":"387_CR19","first-page":"636","volume":"437","author":"SDG Griffith","year":"2005","unstructured":"Griffith SDG, Jacobson J (2005) Self-replication from random parts. Nat Biotechnol 437:636","journal-title":"Nat Biotechnol"},{"key":"387_CR20","doi-asserted-by":"crossref","unstructured":"Gro\u00df R, Bonani M, Mondada F, Dorigo M (2006) Autonomous self-assembly in a swarm-bot. In: Proceedings of the 3rd international symposium on autonomous minirobots for research and edutainment (AMiRE 2005). Springer, Berlin, Germany, pp 314\u2013322","DOI":"10.1007\/3-540-29344-2_47"},{"key":"387_CR21","doi-asserted-by":"crossref","unstructured":"Hotz PE (2003) Exploring regenerative mechanisms found in flatworms by artificial evolutionary techniques using genetic regulatory networks. In: Congress on evolutionary computation (CEC \u201903), vol 3, pp 2026\u20132033","DOI":"10.1109\/CEC.2003.1299922"},{"issue":"4","key":"387_CR22","doi-asserted-by":"crossref","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","volume":"21","author":"AJ Ijspeert","year":"2008","unstructured":"Ijspeert AJ (2008) Central pattern generators for locomotion control in animals and robots: a review. Neural Netw 21(4):642\u2013653","journal-title":"Neural Netw"},{"issue":"5","key":"387_CR23","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1007\/s004220000211","volume":"84","author":"AJ Ijspeert","year":"2001","unstructured":"Ijspeert AJ (2001) A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biol Cybern 84(5):331\u2013348","journal-title":"Biol Cybern"},{"key":"387_CR24","doi-asserted-by":"crossref","unstructured":"J\u00f8rgensen MW, \u00d8stergaard EH, Lund HH (2004) Modular ATRON: modules for a self-reconfigurable robot. In: Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS\u201904), pp 2068\u20132073","DOI":"10.1109\/IROS.2004.1389702"},{"key":"387_CR25","doi-asserted-by":"crossref","unstructured":"Kamimura A, Kurokawa H, Yoshida E, Murata S, Tomita K, Kokaji S (2005) Automatic locomotion design and experiments for a modular robotic system. IEEE\/ASME Trans Mechatron 10(3):314\u2013325","DOI":"10.1109\/TMECH.2005.848299"},{"key":"387_CR26","doi-asserted-by":"crossref","unstructured":"Karagozler ME, Campbell J, Fedder GK, Goldstein SC, Weller MP, Yoon BW (2007) Electrostatic latching for inter-module adhesion, power transfer, and communication in modular robots. In: Proceedings of the IEEE international conference on intelligent robots and systems (IROS \u201907), pp 2779\u20132786","DOI":"10.1109\/IROS.2007.4399492"},{"key":"387_CR27","unstructured":"Karagozler ME, Goldstein SC, Reid JR (2009) Stress-driven mems assembly + electrostatic forces = 1\u00a0mm diameter robot. In: Proceedings of the IEEE international conference on intelligent robots and systems (IROS \u201909), pp 2763\u20132769"},{"issue":"4","key":"387_CR28","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MCS.2007.384126","volume":"27","author":"E Klavins","year":"2007","unstructured":"Klavins E (2007) Programmable self-assembly. IEEE Control Syst Mag 27(4):43\u201356","journal-title":"IEEE Control Systems Magazine"},{"key":"387_CR29","doi-asserted-by":"crossref","unstructured":"Kotay K, Rus D (2000) Algorithms for self-reconfiguring molecule motion planning. In: Proceedings of IEEE international conference on intelligent robots and systems (IROS\u201900), pp 2184\u20132193","DOI":"10.1109\/IROS.2000.895294"},{"key":"387_CR30","unstructured":"Kotay K, Rus D, Vona M, McGray C (1998) The selfreconfiguring robotic molecule: design and control algorithms. In: Robotics: the algorithmic perspective. AK Peters, pp 375\u2013386"},{"key":"387_CR31","doi-asserted-by":"crossref","unstructured":"Kurokawa H, Murata S, Yoshida E, Tomita K, Kokaji S (1998) A 3-d self-reconfigurable structure and experiments. In: Proceedings of the IEEE\/RJS international conference on intelligent robots and systems (IROS\u201998), vol 2. Victoria, BC, Canada, pp 860\u2013665","DOI":"10.1109\/IROS.1998.727308"},{"issue":"3\u20134","key":"387_CR32","doi-asserted-by":"crossref","first-page":"373","DOI":"10.1177\/0278364907085560","volume":"27","author":"H Kurokawa","year":"2008","unstructured":"Kurokawa H, Tomita K, Kamimura K, Kokaji S, Hasuo T, Murata S (2008) Distributed self-reconfiguration of M-TRAN III modular robotic system. Int J Robotics Res 27(3\u20134):373\u2013386","journal-title":"Int J Robotics Res"},{"key":"387_CR33","first-page":"974","volume":"406","author":"H Lipson","year":"2000","unstructured":"Lipson H, Pollack JB (2000) Automatic design and manufacture of robotic lifeforms. Nat Biotechnol 406:974\u2013978","journal-title":"Nat Biotechnol"},{"key":"387_CR34","doi-asserted-by":"crossref","unstructured":"Marbach D, Ijspeert AJ (2005) Online optimization of modular robot locomotion. In: Proceedings of the IEEE international conference on mechatronics and automation (ICMA\u201905), pp 248\u2013253","DOI":"10.1109\/ICMA.2005.1626555"},{"key":"387_CR35","doi-asserted-by":"crossref","unstructured":"Murata S, Kurokawa H, Kokaji S (1994) Self-assembling machine. In: Proceedings of IEEE international conference on robotics and automation (ICRA\u201994), pp 441\u2013448","DOI":"10.1109\/ROBOT.1994.351257"},{"key":"387_CR36","doi-asserted-by":"crossref","unstructured":"Murata S, Yoshida E, Tomita K, Kurokawa H, Kamimura A, Kokaji S (2000) Hardware design of modular robotic system. In: Proceedings, IEEE\/RSJ international conference on intelligent robots and systems (IROS\u201900). Takamatsu, Japan, pp 2210\u20132217","DOI":"10.1109\/IROS.2000.895297"},{"key":"387_CR37","unstructured":"Nagpal R (1999) Organizing a global coordinate system from local information on an amorphous computer. AI Memo 1666"},{"key":"387_CR38","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1007\/s10514-006-8546-1","volume":"21","author":"EH \u00d8stergaard","year":"2006","unstructured":"\u00d8stergaard EH, Kassow K, Beck R, Lund HH (2006) Design of the ATRON lattice-based self-reconfigurable robot. Auton Robots 21:165\u2013183","journal-title":"Auton Robots"},{"key":"387_CR39","unstructured":"\u00d8stergaard EH, Lund HH (2004) Distributed cluster walk for the ATRON self-reconfigurable robot. In: Proceedings of the 8th conference on intelligent autonomous systems (IAS-8). Amsterdam, Holland, pp 291\u2013298"},{"key":"387_CR40","first-page":"174","volume":"3","author":"JR Reid","year":"2008","unstructured":"Reid JR, Vasilyev V, Webster RT (2008) Building micro-robots: a path to sub-mm3 autonomous systems. Nanotechnology 2008 3:174\u2013177","journal-title":"Nanotechnology 2008"},{"key":"387_CR41","doi-asserted-by":"crossref","unstructured":"De Rosa M, Goldstein S, Lee P, Campbell J, Pillai P (2006) Scalable shape sculpting via hole motion: Motion planning in lattice-constrained modular robots. In: Proceedings of the IEEE international conference on robotics and automation (ICRA\u201906). Orlando, pp 1462\u20131468","DOI":"10.1109\/ROBOT.2006.1641915"},{"key":"387_CR42","doi-asserted-by":"crossref","unstructured":"Rus D, Vona M (2000) A physical implementation of the self-reconfiguring crystalline robot. In: Proceedingsof the IEEE international conference on robotics and automation (ICRA\u201900) vol 2, pp 1726\u20131733","DOI":"10.1109\/ROBOT.2000.844845"},{"key":"387_CR43","doi-asserted-by":"crossref","unstructured":"Schultz UP, Christensen DJ, Stoy K (October 2007) A domain-specific language for programming self-reconfigurable robots. In: Workshop on automatic program generation for embedded systems (APGES), pp 28\u201336","DOI":"10.1109\/IROS.2008.4650757"},{"issue":"2","key":"387_CR44","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1007\/s10514-006-6475-7","volume":"20","author":"W-M Shen","year":"2006","unstructured":"Shen W-M, Krivokon M, Chiu H, Everist J, Rubenstein M, Venkatesh J (2006) Multimode locomotion via superbot reconfigurable robots. Auton Robots 20(2):165\u2013177","journal-title":"Auton Robots"},{"key":"387_CR45","doi-asserted-by":"crossref","first-page":"700","DOI":"10.1109\/TRA.2002.804502","volume":"18","author":"W-M Shen","year":"2002","unstructured":"Shen W-M, Salemi B, Will P (2002) Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots. IEEE Trans Robotics Autom 18:700\u2013712","journal-title":"IEEE Trans Robotics Autom"},{"key":"387_CR46","doi-asserted-by":"crossref","unstructured":"Sims K (1994) Evolving 3d morphology and behavior by competition. In: Brooks R, Maes P (eds) Proceedings of artificial life IV. MIT Press, Cambridge, pp 28\u201339","DOI":"10.1162\/artl.1994.1.4.353"},{"key":"387_CR47","unstructured":"Smith R (2005) Open dynamics engine. http:\/\/www.ode.org"},{"key":"387_CR48","unstructured":"Stoy K (2004) Controlling self-reconfiguration using cellular automata and gradients. In: Proceedings of the 8th conference on intelligent autonomous systems (IAS-8). Amsterdam, pp 693\u2013702"},{"key":"387_CR49","unstructured":"Stoy K, Lyder A, Garcia RFM, Christensen DJ (2007) Hierarchical robots. In: Proceedings of the IROS workshop on self-reconfigurable modular robots, San Diego, CA"},{"issue":"4","key":"387_CR50","doi-asserted-by":"crossref","first-page":"410","DOI":"10.1109\/TMECH.2002.806223","volume":"7","author":"K Stoy","year":"2002","unstructured":"Stoy K, Shen W-M, Will P (2002) Using role based control to produce locomotion in chain-type self-reconfigurable robots. IEEE Trans Mechatron 7(4):410\u2013417","journal-title":"IEEE Trans Mechatron"},{"key":"387_CR51","doi-asserted-by":"crossref","unstructured":"White P, Zykov V, Bongard J, Lipson H (June 2005) Three dimensional stochastic reconfiguration of modular robots. In: Proceedings of robotics: science and systems. Cambridge, USA, pp 161\u2013168","DOI":"10.15607\/RSS.2005.I.022"},{"key":"387_CR52","unstructured":"Yim M (1994) Locomotion with a unit-modular reconfigurable robot. PhD thesis, Department of Mechanical Engineering, Stanford University"},{"key":"387_CR53","doi-asserted-by":"crossref","unstructured":"Yim M, Duff DG, Roufas KD (2000) Polybot: a modular reconfigurable robot. In: Proceedings of IEEE international conference on robotics & automation (ICRA). San Francisco, CA, USA, pp 514\u2013520","DOI":"10.1109\/ROBOT.2000.844106"},{"issue":"1","key":"387_CR54","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MRA.2007.339623","volume":"14","author":"M Yim","year":"2007","unstructured":"Yim M, Shen W-M, Salemi B, Rus Daniela, Moll M, Lipson H, Klavins E (2007) Modular self-reconfigurable robot systems: challenges and opportunities for the future. IEEE Robotics Autom Mag 14(1):43\u201352","journal-title":"IEEE Robotics Autom Mag"},{"key":"387_CR55","doi-asserted-by":"crossref","unstructured":"Yim M, Shirmohammadi B, Sastra J, Park M, Dugan M, Taylor CJ (2007) Towards robotics self-reassembly after explosion. In: Video proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS\u201907), San Diego, CA","DOI":"10.1109\/IROS.2007.4399594"},{"key":"387_CR56","doi-asserted-by":"crossref","unstructured":"Zhang Y, Yim M, Eldershaw C, Duff D, Roufas K (2003) Phase automata: a programming model of locomotion gaits for scalable chain-type modular robots. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS\u201903). Las Vegas, Nevada, USA, pp 2442\u20132447","DOI":"10.1109\/IROS.2003.1249236"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-010-0387-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00521-010-0387-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-010-0387-3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,29]],"date-time":"2021-10-29T10:40:45Z","timestamp":1635504045000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00521-010-0387-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,6,13]]},"references-count":56,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2010,9]]}},"alternative-id":["387"],"URL":"https:\/\/doi.org\/10.1007\/s00521-010-0387-3","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,6,13]]}}}