Physically Coupled Minimalist Soft Robotic Modules

In collaboration with Steven Ceron, Nils Napp, and Kirstin Petersen, we are investigating state estimation, control, and synchronization algorithms for collectives of soft pneumatic robots that inflate and deflate radially. The robots have embedded proprioceptive strain sensors, and I am particularly interested in minimalist coordination mechanisms that leverage the proprioceptive strain information.

A video of a collective of Foambots achieving locomotion with hardcoded motion patterns.