Reprogrammable sequencing for physically intelligent under-actuated robots

TL;DR

This paper presents a novel mechanically reprogrammable under-actuated robot that autonomously navigates environments by leveraging multistability, eliminating the need for traditional computation.

Contribution

It introduces a new design paradigm for physically intelligent robots that can passively reprogram their motion sequences through environmental interactions.

Findings

Successfully navigates mazes and avoids obstacles autonomously

Operates with a single linear actuator without traditional computation

Demonstrates passive reprogramming via mechanical stimuli

Abstract

Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic components. In this study, we introduce a novel design approach for physically intelligent under-actuated mechanisms capable of autonomously adjusting their motion in response to environmental interactions. Specifically, multistability is harnessed to sequence the motion of different degrees of freedom in a programmed order. A key aspect of this approach is that these sequences can be passively reprogrammed through mechanical stimuli that arise from interactions with the environment. To showcase our approach, we construct a four degree of freedom robot capable of autonomously navigating mazes and moving away from obstacles. Remarkably, this robot operates without relying on traditional computational architectures and utilizes only a single linear actuator.