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Dtto Robot v1.0 , a modular self-reconfigurable robot
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V-REP-Simulations Add files via upload Jun 10, 2017

Dtto Modular Robot

Dtto Robot v1.0 , a modular self-reconfigurable robot

A better and up to date description is available at:

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The Dtto v1.0 Robot is a modular transformable robot designed to be versatile, flexible and self-reconfigurable. The idea of modular robots is that they can adopt any shape they want, by changing the position and the connection of their modules.

This robot is aimed for research on modular self-reconfigurable robots and educational purposes. It is designed to allow multiple modules to communicate, mechanically connect and disconnect and to work collaboratively in the locomotion, self-reconfigurability and efficient movement.

The versatility of the robot will allow it, in the future, to be able to perform rescue operations, exploration of unknown environments and space exploration.

In future works, the modules will have built in camera, ultra-sound sensor, gyroscope, accelerometer, magnetometer… The possibilities are endless.

This is a part of a project that is currently being developed in the Universitat Rovira i Virgili, Tarragona (Spain).

Special thanks to my project director, Dr. Jose Luís Ramírez, and to Dr. Juan González-Gómez “Obijuan”, for their support and help everytime I needed it.

It has been fully printed with open-source 3D printers, uses open-source hardware and has been designed entirely on FreeCad.

This robot is Inspired by the MTRAN III, by The National Institute of Advanced Industrial Science and Technology (AIST), Japan. (

Follow the project:


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  • Dimensions: 64* x 64 x 130 mm
  • Weight: 210gr approx
  • 2 servos TowerPro SG92R main movement (2.5kg/cm)
  • 3 servos TowerPro SG90 coupling mechanism (1.8kg/cm)
  • 24 Alignment magnets (4x3 neodymium disc)
  • 1 Arduino nano v3.0
  • 1 Bluetooth HC-06
  • 1 RF. NRF2401+
  • 1 WS2812 LED RGB


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Three modules rolling

One module moving, connection mechanism:

Two modules connecting, moving and disconecting:


This is a small model showing some of the different configurations of the robot.

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This project and all of it's files, images and texts are entirely licensed under the CC BY-SA 4.0 license. (

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