researchers at the japanese intelligent systems research institute develop m-tran [modular transformer] since 1998, a self-reconfigurable modular robot.
a number of m-tran modules can form:
• a 3-D structure which changes its own configuration
• a 3-D structure which generates smaller robots
• a multi-dof robot which flexibly locomotes
• a robot which metamorphoses.
more videos on m-tran's site. more on self-configuring modular robots.