SELF-ASSEMBLING SHAPE-MORPHING ROBOTIC PLATFORM

Smart overview of the Invention

A robotic system comprises a first robotic unit featuring a wheel and an actuator attached to it. The actuator is designed to rotate an active rotor within the wheel. Additionally, the unit includes an actuated magnet that is controlled by the actuator, as well as a free magnet mounted on a passive rotor. The movement of the actuated magnet drives the wheel's rotation, while the free magnet can connect to another robotic unit's actuated magnet to promote movement and enable continuous deformation across multiple units.

Sensor and Communication Features

The first robotic unit may also incorporate a sensor to measure the actuator's rotation. A computing system within the unit can include a transceiver that receives information from other robotic units, allowing for coordinated movement. The transceiver can transmit motor angle values to adjacent units, ensuring they are synchronized in their actions. This setup enables complex interactions among multiple robotic units in a sequence.

Leader Unit Functionality

In certain configurations, the first robotic unit can act as a leader within a sequence of units. A processor in the computing system controls how long this leader unit operates its motor and communicates leadership changes to subsequent units after a specified duration. This dynamic leadership allows for flexible coordination among the robotic units during operation.

Adaptive Shape-Morphing Capabilities

The described robotic systems are designed to morph their physical form and compliance levels in response to environmental challenges. They utilize modular components that can self-assemble into larger aggregates through magnetic coupling, allowing for both solid- and liquid-like properties. These capabilities enable the aggregates to navigate obstacles and maintain movement over various surfaces without relying on external sensors or electronic communication.

Innovative Design Approach

The Granulobot system represents a significant advancement in robotics by merging features of modular, soft, and swarm robotics. By mimicking the adaptive behaviors of granular materials, these robots can achieve complex locomotion strategies while maintaining resilience and adaptability. The innovative coupling design permits continuous deformation in aggregates, enhancing their functionality as active granular materials that serve as foundational elements for soft robotics.