Embodying mechano-fluidic memory in soft machines to program behaviors upon interactions
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866915467131617280 |
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| author | Comoretto, Alberto Mandke, Tanaya Overvelde, Johannes T. B. |
| author_facet | Comoretto, Alberto Mandke, Tanaya Overvelde, Johannes T. B. |
| contents | Soft machines display shape adaptation to external circumstances due to their intrinsic compliance. To achieve increasingly more responsive behaviors upon interactions without relying on centralized computation, embodying memory directly in the machines' structure is crucial. Here, we harness the bistability of elastic shells to alter the fluidic properties of an enclosed cavity, thereby switching between stable frequency states of a locomoting self-oscillating machine. To program these memory states upon interactions, we develop fluidic circuits surrounding the bistable shell, with soft tubes that kink and unkink when externally touched. We implement circuits for both long-term and short-term memory in a soft machine that switches behaviors in response to a human user and that autonomously changes direction after detecting a wall. By harnessing only geometry and elasticity, embodying memory allows physical structures without a central brain to exhibit autonomous feats that are typically reserved for computer-based robotic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_19192 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Embodying mechano-fluidic memory in soft machines to program behaviors upon interactions Comoretto, Alberto Mandke, Tanaya Overvelde, Johannes T. B. Soft Condensed Matter Robotics Applied Physics Soft machines display shape adaptation to external circumstances due to their intrinsic compliance. To achieve increasingly more responsive behaviors upon interactions without relying on centralized computation, embodying memory directly in the machines' structure is crucial. Here, we harness the bistability of elastic shells to alter the fluidic properties of an enclosed cavity, thereby switching between stable frequency states of a locomoting self-oscillating machine. To program these memory states upon interactions, we develop fluidic circuits surrounding the bistable shell, with soft tubes that kink and unkink when externally touched. We implement circuits for both long-term and short-term memory in a soft machine that switches behaviors in response to a human user and that autonomously changes direction after detecting a wall. By harnessing only geometry and elasticity, embodying memory allows physical structures without a central brain to exhibit autonomous feats that are typically reserved for computer-based robotic systems. |
| title | Embodying mechano-fluidic memory in soft machines to program behaviors upon interactions |
| topic | Soft Condensed Matter Robotics Applied Physics |
| url | https://arxiv.org/abs/2502.19192 |