Ying Zou 0006Tianmiao WangHongxing WeiChengcheng LiShiyi LiF-Model: Model of Modular Robot Based on Functional Component.91-962009RTCSAhttps://doi.org/10.1109/RTCSA.2009.17https://doi.ieeecomputersociety.org/10.1109/RTCSA.2009.17conf/rtcsa/2009db/conf/rtcsa/rtcsa2009.html#ZouWWLL09