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

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.


Editor(s):
Del Pobil, Angel P.
Chinellato, Eris
Martinez-Martin, Ester
Hallam, John
Cervera, Enric
Morales, Antonio
Published in:
From Animals to Animats 13, 8575, 220-229
Presented at:
Simulation of Adaptive Behavior 2014, Castellón, Spain, July 22-26, 2014
Year:
2014
Publisher:
Cham, Springer International Publishing
Keywords:
Note:
NCCR, softSRrobots
Laboratories:




 Record created 2014-05-19, last modified 2018-09-13

Preprint:
Download fulltext
PDF

Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)