# HIT's Zhu Yanhe Team Publishes Paper on Cooperative Reconfiguration for Self-Repair in Modular Robots

- Source: Harbin Institute of Technology Robotics
- Published: 2026-06-23T16:00:00.000Z
- RoboHot: https://robohot.news/en/items/rho136zusygyc05sg23l09iks
- Original: https://robot.hit.edu.cn/2026/0624/c287a394815/page.htm

## Summary

Professor Zhu Yanhe's team at Harbin Institute of Technology (HIT) published a paper in the International Journal of Extreme Manufacturing (IJEM), proposing an autonomous fault-tolerant repair strategy for modular robots based on cooperative reconfiguration, which restores joint fault damage by changing morphology without backup module replacement. The method combines topological description and kinematic self-modeling, particle swarm optimization to search for target configurations, and an improved RRT cooperative reconfiguration algorithm. In experiments, the fault-tolerance upper limit was 7 times higher than that of fixed-configuration redundancy methods. HIT is the sole completing institution, and doctoral student Qi Jian is the first author.

## Why it matters

The paper presents a cooperative reconfiguration fault-tolerance strategy that requires no backup modules and data showing a 7-fold increase in the fault-tolerance upper limit, allowing readers to understand a concrete implementation path for self-repair in robot swarms under extreme environments.