Bulletin of the American Physical Society
2023 APS March Meeting
Volume 68, Number 3
Las Vegas, Nevada (March 5-10)
Virtual (March 20-22); Time Zone: Pacific Time
Session D14: Morphing Matter: From Soft Robotics to 4D Printing II
3:00 PM–5:48 PM,
Monday, March 6, 2023
Room: Room 206
Sponsoring
Unit:
DSOFT
Chair: Andrej Kosmrj, Princeton University; PT Brun, Princeton University
Abstract: D14.00012 : Autonomous Control of a Mobile Robot using a Mechanical Metamaterial “Brain”*
5:36 PM–5:48 PM
Presenter:
Cyrill Bösch
(ETH Zurich)
Authors:
Cyrill Bösch
(ETH Zurich)
Giovanni Bordiga
(SEAS, Harvard)
Connor M McCann
(Harvard)
Eder Medina
(Harvard)
Michelle C Yuen
(Harvard)
Yichu Jin
(Harvard)
Oluwaseun Araromi
(Harvard)
Andreas Fichtner
(ETH Zurich)
Katia Bertoldi
(Harvard)
We outsource the control of the motors to the metamaterial using the principle of Physical Reservoir Computing. As the robot runs into an obstacle, the metamaterial deforms nonlinearly due to the contact with the obstacle. Strain sensors measure the deformation, then the strain measurements are linearly superimposed by weighing them with experimentally trained weights through an analogue circuit to produce the adequate motor control command. Hence, no digital computation is required. The “intelligence” and sensing capability of the robot lies in the nonlinearly deforming mechanical metamaterial.
*This work was supported by an ETH Zurich Doc.Mobility Fellowship
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