The Crystalline Atomic Unit Modular Self-reconfigurable Robot is a good project to apply the idea of modular robotics for adaptive furnitures. The simulated Crystalline robot can be transformed from a dog-like structure into a couch-like structure. The website presents simulation as well as possible implementations. Why do I blog this? we discussed this sort of things at the CAIF workshop two weeks ago and it seems that there is not lots of existing physical prototypes. Besides I find curious this "A manually planned simulation of a dog reconfiguring into a couch"