The goal of this project is to explore the potential of soft modular robots
to mimic some of the fundamental cell behaviors observed during
embryogenesis; the initial shaping stage of the living embryo. We are
interested in finding practical applications of soft modular robots.
For example, we have implemented soft modular grippers, and soft modular
arrangements with the capability of moving inside narrow spaces.
of some fundamental cell behaviors that take place during
morphogenesis. During this process living cells are able to expand,
contract, migrate, connect and disconnect from each other as well as to
exhibit various transformations that give rise to complex structures and
Soft modular robotic cubes are fabricated with soft lithography. Magnets are inserted on each face of the cube. The resulting hollow cube is then actuated by computer controlled inflation.
Simple coordinated inflation of soft modules allows
self-reconfiguration to take place on different configurations. For
example the same group of robots can change its configuration from an
initial "E" shape to a final "F" shape. By modifying the actuation sequence
one can achieve different final states, for example a final "C" shape can
be obtained from the same initial "E" configuration.
A group of soft modular robots executing a self reconfiguring transition from the "E" shape to the final "F" shape.
A group of soft modular robots executing a self reconfiguring transition from the "E" shape to the final "C" shape.
The following people are currently involved in the project:
Andrea Vergara, Yi-Sheng Lau, Joakin Ugalde, Edgardo Ramirez, Harold Valenzuela.
Juan Cristóbal Zagal (Director)
Ricardo Franco Mendoza