Smarticles 2.0 – Robotic Modules Designed for 3D Entanglement*

Smart robotic matter consists of aggregates of programmable modules able to actuate, sense, and respond intelligently to environment. Design challenges involve scalable fabrication and operation, and coordination algorithms for reliable autonomy. We present a new ‘Smarticles’ iteration capable of unprecedented 3D entanglement [1]. We discuss the design which supports low cost, 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, sensing modalities, and battery life. Finally, we demonstrate tactile and acoustic coordination, and show exploratory collective behaviors with up to 10 modules, including static entanglement and self-disassembly. Building on this work, we are now performing stress tests of our original platform to enable bigger collectives the future. We are also comparing emergent behaviours of this physically entangled collective with predictions in simulation [2]. We look forward to use Smarticle 2.0 to study global emergent behaviours that arise from local individual interactions. We expect this robophysical platform will help promote insights on materials and biological swarms, as well as taskable robotic systems that can change shape and properties.

[1] Danna Ma, Jiahe Chen, Sadie Cutler, and Kirstin Petersen. “Smarticle 2.0: Design of Scalable, Entangled Smart Matter”. Accepted to the Intl. Symposium for Distributed Autonomous Robotic Systems (DARS), 2022.

[2] W Savoie, H Tuazon, MS Bhamla, DI Goldman. “Amorphous Entangled Active Matter”. In review,2022.