Shintaro Inoue

Reconfigurable robots address diverse tasks, including locomotion and object manipulation, by changing body configurations. In particular, modular robots expand body functions by connecting multiple body elements into various structures. However, these elements are typically mechanically fixed, and the focus is on functions as a single body after docking. This study proposes TwinX, a robot system in which a single interbody wire connects integrated morphological reconfiguration in the docked state and functional relations among distributed bodies in the separated state. TwinX consists of two wheeled‐legged robots connected by this wire and docks and reconfigures by winding it. Even when the two bodies are distributed, the same wire can be used for object manipulation and force transmission. Real‐robot experiments show quadrupedal and swerve‐drive locomotion in the docked state, as well as object manipulation using the mobile manipulator configuration. They also show enclosure, hooking, and force‐transmission tasks in the distributed state. These results show that the interbody wire extends functional expansion through changes in body configuration to include distributed body relations. Furthermore, it positions the interbody wire as a design element for robot bodies that is different from rigid links and joints because it enables maintained, variable‐length, and tension‐based relations between body elements.

The movements of robots are inherently constrained by their physical structure, making it challenging for them to respond flexibly to the complex tasks required in disaster situations or while assisting in daily life activities. Modular and transformable robots have been developed to address these challenges. However, no robot has been able to freely manipulate its operational wrench space while retaining scalability when operated with a powerful output wrench in a large workspace. This study proposes a concept for overcoming the constraints of the physical structure and accomplishing diverse tasks using the wire‐driven robot CubiX. CubiX connects itself to the environment using wires via drones and can move freely by winding these wires. Furthermore, CubiX can extend its capabilities by integrating with tools such as vacuum cleaners, tables, and other robots. For example, when CubiX is integrated with a quadruped robot, it not only gains walking capabilities but also creates additional value using the robot legs as arms for object manipulation while aerially navigating through a space using wire‐driven movements. This study demonstrates that the robot can exhibit capabilities beyond its structure by skillfully utilizing the environment.