A Review of Current Approaches to Configuration Detection in Modular Legged Robots

In this paper, we review monolithic and reconfigurable modular robotic systems, focusing on configuration detection and legged locomotion. The focus of the review lies on the realization of a robotic system consisting of autonomous robotic legs with integrated PC and power units and grants a specialized look at embodiment for such robots. We further dissect the challenges of disembodied modular legged systems and propose how they may be realized using configuration detection. This is necessary in case the configuration as well as the payload is unknown to the robot. Using the state of the art approaches, we propose a approach for the realization of a modular disembodied legged robot consisting of a list of methods focussing on individual issues in the realization of such autonomous legs. We close with an outlook on future challenges for such a system and what research fields will need to be exploited.