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

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

Germann, Jürg
•
Auerbach, Joshua
•
Floreano, Dario  
Del Pobil, Angel P.
•
Chinellato, Eris
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2014
From Animals to Animats 13
Simulation of Adaptive Behavior 2014

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.

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Type
conference paper
DOI
10.1007/978-3-319-08864-8_21
Author(s)
Germann, Jürg
Auerbach, Joshua
Floreano, Dario  
Editors
Del Pobil, Angel P.
•
Chinellato, Eris
•
Martinez-Martin, Ester
•
Hallam, John
•
Cervera, Enric
•
Morales, Antonio
Date Issued

2014

Publisher

Springer International Publishing

Publisher place

Cham

Published in
From Animals to Animats 13
Series title/Series vol.

Lecture Notes in Computer Science

Volume

8575

Start page

220

End page

229

Subjects

Self-Assembly

•

Soft Robotics

•

Modular Robotics

•

Evolutionary Robotics

Note

NCCR, softSRrobots

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LIS  
Event nameEvent placeEvent date
Simulation of Adaptive Behavior 2014

Castellón, Spain

July 22-26, 2014

Available on Infoscience
May 19, 2014
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/103419
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