Programmable self-assembly of miniature robotic modules provides a promising means for realizing programmable matter. This project is focused on programmable stochastic self-assembly of robotic modules in an aquatic environment. The project is basically divided into two main research thrusts: (i) a technological research thrust concerned with the design, the fabrication, and the packaging of the experimental platform, and (ii) a theoretical research thrust concerned with the development of distributed, stochastic control schemes supported by a flexible modeling framework. Such a modeling framework shall enable to predict and optimize the dynamics of the proposed distributed robotic platform as a function of a large variety of design and control parameters, therefore strongly linking the two research thrusts.
The expected outcomes of this project are two-fold. First, our research consolidates and improve the design of centimeter-sized distributed robotic platforms based on mechatronic technology. Second, we aim at updating and extending state-of-the-art methodologies for designing, modeling, and controlling massively distributed, stochastic robotic systems. This project is definitely oriented towards basic research: even though it aims at delivering concrete demonstrators, it does not yet target any specific application.d confined in 2D.
Building the Lily Robotic Module
Placing the electro-permanent latches
Folding the flexible PCB
Placing inside the 3D-printed shell
Team and Collaborators
Sponsors and Research Period
This project was sponsored by an SNSF grant
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