Coherent movement of error-prone individuals through mechanical coupling

Federico Pratissoli, Andreagiovanni Reina, Yuri Kaszubowski Lopes, Carlo Pinciroli, Genki Miyauchi, Lorenzo Sabattini and Roderich Groß ()
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Federico Pratissoli: University of Modena and Reggio Emilia
Andreagiovanni Reina: The University of Sheffield
Yuri Kaszubowski Lopes: Santa Catarina State University
Carlo Pinciroli: Worcester Polytechnic Institute
Genki Miyauchi: The University of Sheffield
Lorenzo Sabattini: University of Modena and Reggio Emilia
Roderich Groß: The University of Sheffield

Nature Communications, 2023, vol. 14, issue 1, 1-13

Abstract: Abstract 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.

Date: 2023
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DOI: 10.1038/s41467-023-39660-6

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