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Smarticle 2.0: Design of Scalable, Entangled Smart Matter

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Distributed Autonomous Robotic Systems (DARS 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 28))

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Abstract

We present a new iteration of smart active matter modules capable of unprecedented 3D entanglement, designed specifically for fabrication and operation at large scales by a range of scientific users. We discuss the benefits of entanglement compared to traditional rigid, lattice formations in active matter and modular robots, and the design which supports low cost, a small and appropriate form factor, low weight, low barrier-of-entry, and ease of operation. We characterize the platform in terms of actuation repeatability and longevity, lifting and holding strength, a number of sensing modalities, and battery life. We demonstrate short and (relatively) long range communication using tactile and acoustic transceivers. We further show exploratory collective behaviors with up to 10 modules, including static entanglement and self disassembly. We hope that this open-source ‘robo-physical’ platform can pave the way for new innovations across the fields of modular robots and active and soft matter.

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Acknowledgements

This project was funded by NSF awards #1933284 and #2042411, and the Packard Fellowship for Science and Engineering. The authors would like to acknowledge many fruitful discussions with Prof. Goldman at the Georgia Institute of Technology.

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Authors and Affiliations

  1. School of Electrical and Computer Engineering, Cornell University, Ithaca, NY, 14853, USA

    Danna Ma, Jiahe Chen & Kirstin Petersen

  2. Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, 14853, USA

    Sadie Cutler

Authors
  1. Danna Ma
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  2. Jiahe Chen
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  3. Sadie Cutler
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  4. Kirstin Petersen
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Corresponding author

Correspondence to Kirstin Petersen .

Editor information

Editors and Affiliations

  1. University of Franche-Comté, Montbéliard, France

    Julien Bourgeois

  2. École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Jamie Paik

  3. CNRS, University of Franche-Comté, Besancon, France

    Benoît Piranda

  4. Harvard University, Boston, MA, USA

    Justin Werfel

  5. University of Bristol, Bristol, UK

    Sabine Hauert

  6. Boston University, Boston, MA, USA

    Alyssa Pierson

  7. University of Lübeck, Lubeck, Germany

    Heiko Hamann

  8. The Chinese University of Hong Kong, Shenzhen, Shenzhen, China

    Tin Lun Lam

  9. Kyoto University, Kyoto, Japan

    Fumitoshi Matsuno

  10. University of Illinois System, Urbana, IL, USA

    Negar Mehr

  11. University of Franche-Comté, Montbéliard, France

    Abdallah Makhoul

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Ma, D., Chen, J., Cutler, S., Petersen, K. (2024). Smarticle 2.0: Design of Scalable, Entangled Smart Matter. In: Bourgeois, J., et al. Distributed Autonomous Robotic Systems. DARS 2022. Springer Proceedings in Advanced Robotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-031-51497-5_36

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