There is a need in the field of modular robotics for a low-profile docking face with a wide range of performance. Mechanical self-aligning geometry features for docking faces of modular reconfigurable robot systems can be varied to improve the reliability of connection systems. This paper presents a new two-layer mating face design for robots that are constrained to move in a plane. It has a provably larger area of acceptance than any to date. We present an analysis of both position and

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... ion misalignments with simulated results over a two parameter design space comparing this connector with two other best-in-class shapes. The results show an average acceptance area increase approximately 88% over gendered mating faces and approximately 138% over non-gendered mating faces. This accepted article to IROS 2012 is made available by the authors in compliance with IEEE policy. Please find the final, published version in IEEE Xplore,