The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In particular, autonomous construction of robots that are personalized for each user and task is required. Therefore, we develop an actuator module that can be reconfigured to various link configurations, can carry heavy objects using a locking mechanism, and can be easily operated by human teaching using a releasing mechanism. Given multiple target coordinates, a modular robot configuration that satisfies these coordinates and minimizes the required torque is automatically generated by Tree-structured Parzen Estimator (TPE), a type of black-box optimization. Based on the obtained results, we show that the robot can be reconfigured to perform various functions such as moving monitors and lights, serving food, and so on.

翻译：机器人活动范围正从固定环境的工业领域扩展到多样化的动态环境，例如护理支持和日常生活辅助。特别是，需要为每位用户和任务个性化自主构建机器人。因此，我们开发了一种可重构为多种连杆配置的驱动模块，该模块利用锁定机构搬运重物，并通过释放机构实现人类示教的简易操作。针对多个目标坐标，基于树结构帕尔森估计器（TPE）这类黑箱优化方法，自动生成满足这些坐标且所需扭矩最小化的模块化机器人配置。根据获得的结果，我们展示了机器人可重构执行多种功能，如移动显示器与灯具、端送食物等。