Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective
Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective
复制标题
Eciton Robotica：自适应自组装软机器人集体的设计和算法
DOI：
--
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
R. Nagpal
中科院分区：
文献类型：
--
作者：
Melinda J. D. Malley;Bahar Haghighat;Lucie Houel;R. Nagpal
群居昆虫成功地用自己的身体建造了桥梁、木筏、巢穴和其他结构，并且无需集中控制系统，只需遵循当地规则即可。例如，在穿越崎岖地形时，行军蚁（Eciton 属）会建造桥梁，这些桥梁会根据当地交通情况而生长和溶解。由于这些自组装结构包含智能、灵活的材料（即蚂蚁身体）并根据局部行为而产生，因此桥梁具有适应性和动态性。为了实现具有相似功能的机器人集体，我们设计了一个硬件系统 Eciton Robotica，该系统由灵活的机器人组成，这些机器人可以相互攀爬以组装顺应的结构并使用振动进行本地通信。在模拟中，我们演示了结构的自组装：仅使用当地规则和信息，机器人根据当地交通和变化的地形来建造和拆除桥梁。与以前专注于基于晶格的结构和预定形状的自组装机器人系统不同，我们的系统采用了一种新方法，其中软机器人附着以创建非晶结构，其最终自组装形状可以适应团队的需求。
Social insects successfully create bridges, rafts, nests and other structures out of their own bodies and do so with no centralized control system, simply by following local rules. For example, while traversing rough terrain, army ants (genus Eciton) build bridges which grow and dissolve in response to local traffic. Because these self-assembled structures incorporate smart, flexible materials (i.e. ant bodies) and emerge from local behavior, the bridges are adaptive and dynamic. With the goal of realizing robotic collectives with similar features, we designed a hardware system, Eciton robotica, consisting of flexible robots that can climb over each other to assemble compliant structures and communicate locally using vibration. In simulation, we demonstrate self-assembly of structures: using only local rules and information, robots build and dissolve bridges in response to local traffic and varying terrain. Unlike previous self-assembling robotic systems that focused on latticebased structures and predetermined shapes, our system takes a new approach where soft robots attach to create amorphous structures whose final self-assembled shape can adapt to the needs of the group.