A manually reconfigurable and transmutable modular robot was developed, which could change its shape to adapt to an environment and a task if needed.

摘要设计了一种手动可重构、自动变形的新型链式模块化机器人机构，它可以通过结构重构和自动变形来改变自身的构形以适应非结构环境中运动和作业的要求。