The Conro modules for reconfigurable robots

Andres Castano, Alberto Behar, Peter M. Will

Research output: Contribution to journalArticlepeer-review

198 Scopus citations


The goal of the Conro Project is to build deployable modular robots that can reconfigure into different shapes such as snakes or hexapods. Each Conro module is, itself, a robot and hence a Conro robot is actually a multirobot system. In this paper we present an overview of the Conro modules, the design approach, an overview of the mechanical and electrical systems and a discussion on size versus power requirement of the module. Each module is self-contained; it has its own processor, power supply, communication system, sensors and actuators. The modules, although self-contained, were designed to work in groups, as part of a large modular robot. We conclude the paper by describing some of the robots that we have built using the Conro modules and describing the miniature custom-made Conro camera as an example of the type of sensors that can be carried as payload by these robots.

Original languageEnglish (US)
Pages (from-to)403-409
Number of pages7
JournalIEEE/ASME Transactions on Mechatronics
Issue number4
StatePublished - Dec 2002
Externally publishedYes


  • Autonomous
  • Modular
  • Reconfigurable
  • Self-sufficient

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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