Functionalization of Situated Robots via Vapour

TL;DR

This paper introduces a method to functionalize in situ spun webs of robots using environmental materials, demonstrated by converting PVDF fibers into optically absorbing structures via vapour exposure.

Contribution

It proposes a novel approach to functionalize situated robot structures using environmental vapour, reducing complexity compared to traditional multimaterial spinning.

Findings

Successful transformation of PVDF web into optically absorbing structure

Two strategies for activator delivery demonstrated: infusion and pre-embedding

Potential applications include biohybrid robots exploiting bacterial genomes

Abstract

Tight matching with the environment is key to effective robot operation in complex settings. Situated robots that build their bodies in situ (e.g. by spinning) are uniquely positioned to exploit their surroundings, yet functionalization of these structures remains an integration challenge - multimaterial spinning requires complex spinneret multiplexing, and mixture doping is limited by additive availability and chemical stability. We propose instead using materials available in the environment to functionalize in situ spun webs, reducing payload and uniquely matching the structure to its surroundings. As a demonstration, we transform an optically scattering PVDF fiber web into an optically absorbing, polypyrrole-grafted structure via pyrrole vapour exposure. Two activator-delivery strategies are shown: liquid infusion into a prefabricated web, and activator pre-embedding in the spinning mixture. Beyond this proof-of-concept, we foresee broader applications including biohybrid robots that exploit bacterial genomes for specific biomolecule synthesis in situ.