Described model of a modular self-reconfigurable robot

A homogeneous lattice modular Self-Reconfigurable (MSR) robot was designed in the paper, we discuss how to describe configuration of robot using graphs theory, how to discover a robot configuration, utilizing connecting status of six connection component, a feature vector matrix was proposed in order to accurately described the topology structure, position and connection relation of MSR robot. Basic movement and meta-module structure was introduced too. A locomotion example of robot was demonstrated, it verify the correctness of MSR robot model described. The methodology establishes foundation to further study self-reconfiguration algorithm, it is very general and can be applied easily to other modular robots.