Connection planning method of chain type modular self-reconfiguration robot and robot

The invention discloses a connection planning method for a chain type modular self-reconfiguration robot and the robot, and the method comprises the steps: setting each module in the chain type modular self-reconfiguration robot as a multi-in-degree single-out-degree module, and determining an adjacent matrix of a connection relation between an initial configuration and a target configuration; calling a polynomial time algorithm to solve the adjacent matrix, and by taking the cost of a near-optimal solution as an upper bound, initializing a circulation framework of branch and pruning operation in a tree branching and delimiting algorithm; calling a BRANCHING function to perform branching operation and pruning operation on a tree in the tree type branching and delimiting algorithm to obtain a global optimal solution; and controlling each multi-in-degree single-out-degree module to be connected according to the globally optimal solution. According to the method, the optimal solution of the connection planning p