What are four types of innovation according to Henderson and Clark?

According to Henderson and Clark, the four types of innovation are:

1. Incremental Innovation: Improvements or enhancements to existing products or services without changing the core technology.
2. Modular Innovation: Changes in certain components of a product while keeping the overall architecture intact.
3. Architectural Innovation: Alterations in the way components are integrated, leading to new configurations of existing technologies.
4. Radical Innovation: Completely new technologies or concepts that disrupt existing markets and create entirely new ones.