{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T08:44:43Z","timestamp":1768812283608,"version":"3.49.0"},"reference-count":21,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2012,3,2]],"date-time":"2012-03-02T00:00:00Z","timestamp":1330646400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,3,2]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to introduce the design and the multi\u2010mode locomotion function of the new reconfigurable modular robotic system \u2013 UBot system \u2013 which combines the advantages from the chain\u2010based and lattice\u2010based self\u2010reconfigurable robots.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The UBot modules the authors have designed are based on the universal joint and of cubic shape with two rotational joints and reliable automatic connecting mechanism. The modules are compact and flexible enough for locomotion and reconfiguration. The system can move in different modes to satisfy different terrains, through changing the modules' local connections and rotation of modules' joints.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The UBot system can flexibly move in the modes of cross, loop, quadruped, snake\u2010type and other type of locomotion modes. All the locomotion has been implemented in the physical experiments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The UBot module is the new reconfigurable module which has two joints in one unit of regular cubic space and four reliable automatic connecting surfaces. A group of the modules is able to change its connective configuration by changing their local connections and has functionality of the corresponding traditional robotic system. Since it can travel through terrains that may not be fully characterized ahead of time, the system can be used in a large variety of tasks, such as transportation, assembly, inspection and exploration.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911211201645","type":"journal-article","created":{"date-parts":[[2012,3,5]],"date-time":"2012-03-05T14:33:09Z","timestamp":1330957989000},"page":"178-190","source":"Crossref","is-referenced-by-count":27,"title":["UBot: a new reconfigurable modular robotic system with multimode locomotion ability"],"prefix":"10.1108","volume":"39","author":[{"given":"Jie","family":"Zhao","sequence":"first","affiliation":[]},{"given":"Xindan","family":"Cui","sequence":"additional","affiliation":[]},{"given":"Yanhe","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Shufeng","family":"Tang","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022031520405768300_b7","doi-asserted-by":"crossref","unstructured":"Bordignon, M., Stoy, K. and Schultz, U.P. 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