Programmable Self-assembly with Chained Soft Cells: An Algorithm to Fold into 2-D Shapes

  • Jürg Germann
  • Joshua Auerbach
  • Dario Floreano
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8575)

Abstract

Programmable self-assembly of chained modules holds potential for the automatic shape formation of morphologically adapted robots. However, current systems are limited to modules of uniform rigidity, which restricts the range of obtainable morphologies and thus the functionalities of the system. To address these challenges, we previously introduced “soft cells” as modules that can obtain different mechanical softness pre-setting. We showed that such a system can obtain a higher diversity of morphologies compared to state-of-the-art systems and we illustrated the system’s potential by demonstrating the self-assembly of complex morphologies. In this paper, we extend our previous work and present an automatic method that exploits our system’s capabilities in order to find a linear chain of soft cells that self-folds into a target 2-D shape.

Keywords

Self-Assembly Soft Robotics Modular Robotics 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Jürg Germann
    • 1
  • Joshua Auerbach
    • 1
  • Dario Floreano
    • 1
  1. 1.Laboratory of Intelligent Systems, EPFL - IMT - STI - LISLausanneSwitzerland

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