Research within the area of modular robotics for playful interaction, self-reconfiguration, and adaptive locomotion. On the practical side, I have developed control strategies for self-reconfiguration, locomotion and learning. On the theoretical side, I have explored basic issues regarding scalability and morphology design. My research interests include: modular robots, self-reconfigurable robots, self-assembly, robot locomotion, rapid robot prototyping, distributed control, self-organizing and emergent control, bio-inspired control, evolutionary algorithms, artificial neural networks, reinforcement learning, learning by demonstration, programming by building, stochastic optimization, central pattern generators, behavioral adaptation, morphological adaptation, scalability, complexity, swarm robotics, human-robot interaction, artificial intelligence and artificial life.