Collision Induced Binding and Transport of Shape Changing Robot Pairs
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arXiv
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| Autori principali: | , , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
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| _version_ | 1866910988247236608 |
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| author | Vardhan, Akash Avinery, Ram Bagheri, Hosain Kojohourav, Velin Li, Shengkai Kedia, Hridesh Wang, Tianyu Soto, Daniel Wiesenfeld, Kurt Goldman, Daniel I. |
| author_facet | Vardhan, Akash Avinery, Ram Bagheri, Hosain Kojohourav, Velin Li, Shengkai Kedia, Hridesh Wang, Tianyu Soto, Daniel Wiesenfeld, Kurt Goldman, Daniel I. |
| contents | We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually undulating three-link two-motor robots and can remain bound for hundreds of undulations and travel for multiple robot dimensions. Gliders occur in two distinct binding symmetries and form over a wide range of angular oscillation extent. This parameter sets the maximal concavity which influences formation probability and translation characteristics. Analysis of dynamics in simulation reveals the mechanism of effective dynamical attraction -- a result of the emergent interplay of appropriately oriented and timed repulsive interactions. Tactile sensing stabilizes the short-lived conformation via concavity modulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_14170 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Collision Induced Binding and Transport of Shape Changing Robot Pairs Vardhan, Akash Avinery, Ram Bagheri, Hosain Kojohourav, Velin Li, Shengkai Kedia, Hridesh Wang, Tianyu Soto, Daniel Wiesenfeld, Kurt Goldman, Daniel I. Robotics Adaptation and Self-Organizing Systems We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually undulating three-link two-motor robots and can remain bound for hundreds of undulations and travel for multiple robot dimensions. Gliders occur in two distinct binding symmetries and form over a wide range of angular oscillation extent. This parameter sets the maximal concavity which influences formation probability and translation characteristics. Analysis of dynamics in simulation reveals the mechanism of effective dynamical attraction -- a result of the emergent interplay of appropriately oriented and timed repulsive interactions. Tactile sensing stabilizes the short-lived conformation via concavity modulation. |
| title | Collision Induced Binding and Transport of Shape Changing Robot Pairs |
| topic | Robotics Adaptation and Self-Organizing Systems |
| url | https://arxiv.org/abs/2504.14170 |