Wire-Driven Reconfigurable Soft Modular Robot for Multi-Modal Locomotion

Soft locomotion robots, leveraging compliant ma- terials, adapt well to complex terrains, yet research evaluat- ing variations in body configuration and achieving multiple locomotion modes within a single system remains limited. We present a reconfigurable soft modular robot combining ure- thane chip foam flexibility with modular versatility. Wire-driven actuation enables controllable deformation, allowing even a single module to move via passive body dynamics. The modular design supports rapid reconfiguration into serial connections, as well as lateral connections in either midpoint-connected (H- shape) or end-connected (V-shape) layouts. Experiments under simplified CPG-inspired oscillatory control assessed locomotion performance and terrain adaptability. The V-shape reached 34.70 mm/s, while the serial configuration with bottom-contact excelled in climbing 10 mm steps and traversing artificial grass. Adjusting actuation intervals improved deformation retention and propulsion. These results show that combining flexibility and reconfigurability enables diverse locomotion modes and robust environmental adaptability.