Coherent movement of error-prone individuals through mechanical coupling.
Coherent movement of error-prone individuals through mechanical coupling.
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DOI：
10.1038/s41467-023-39660-6
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发表时间：
2023-07-18
影响因子：
16.6
通讯作者：
Gross, Roderich
中科院分区：
文献类型：
--
作者：
Pratissoli, Federico;Reina, Andreagiovanni;Lopes, Yuri Kaszubowski;Pinciroli, Carlo;Miyauchi, Genki;Sabattini, Lorenzo;Gross, Roderich
我们研究如何可靠的运动可以出现在聚合物的高度容易出错的个人。机器人模块使用振动马达随机移动。通过弹性连接将它们连接起来，可以形成柔软的聚合体。我们提出了分布式算法，使聚合物可靠地移动和变形。的概念和算法进行了验证，通过正式的弹性联轴器和实验与聚合物，包括多达49个物理模块之间的最大的软体聚合物的自治模块。实验表明，具有弹性耦合的聚集体可以收缩和拉伸它们的身体，随着模块数量的增加而精确地移动，并且优于没有或刚性耦合的聚集体。我们的研究结果表明，机械耦合可以在能力极其有限和容易出错的个体之间实现连贯运动方面发挥至关重要的作用，并可能为低功耗，可伸缩机器人的高分辨率监控和操作铺平道路。在生物学中，众所周知，与单个动物相比，个体在群体中移动时可以实现更高的导航准确性。作者表明，简单的自推进机器人模块，不能准确的运动作为个人可以实现准确的群体导航，一旦耦合通过可变形的弹性链接。
We investigate how reliable movement can emerge in aggregates of highly error-prone individuals. The individuals—robotic modules—move stochastically using vibration motors. By coupling them via elastic links, soft-bodied aggregates can be created. We present distributed algorithms that enable the aggregates to move and deform reliably. The concept and algorithms are validated through formal analysis of the elastic couplings and experiments with aggregates comprising up to 49 physical modules—among the biggest soft-bodied aggregates to date made of autonomous modules. The experiments show that aggregates with elastic couplings can shrink and stretch their bodies, move with a precision that increases with the number of modules, and outperform aggregates with no, or rigid, couplings. Our findings demonstrate that mechanical couplings can play a vital role in reaching coherent motion among individuals with exceedingly limited and error-prone abilities, and may pave the way for low-power, stretchable robots for high-resolution monitoring and manipulation. In biology, individuals are known to achieve higher navigation accuracy when moving in a group compared to single animals. The authors show that simple self-propelled robotic modules that are incapable of accurate motion as individuals can achieve accurate group navigation once coupled via deformable elastic links.
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