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Evo-Bots: A Simple, Stochastic Approach to Self-assembling Artificial Organisms

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of function ...

EPFL2024

Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules

Alcherio Martinoli, Hala Khodr, Bahar Haghighat

Self-assembling robotic systems form a subclass of distributed robotic systems that undertake the fundamental task of structure formation. These systems build desired target structures by putting their constituting robotic modules together in a distributed ...

ELSEVIER2019

A Rule Synthesis Algorithm for Programmable Stochastic Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the pro ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules

Bahar Haghighat

The newly emerged and quickly growing science of nanotechnology has been recognized as one of ``the twenty-first century's great leaps forward in scientific knowledge''. Self-assembly provides a powerful enabling technique for nanotechnology by providing a ...

EPFL2018

In situ Studies of Peptide and Protein Assemblies at the Solid-Liquid Interface

Bart Willem Stel

At the interface between science and engineering, there is the field of biomimicry: Innovations inspired by the observation of natural, evolutionary optimized biological structures and processes. To understand the challenges of biomimicry, the concept of â ...

EPFL2018

A reconfiguration strategy for modular robots using origami folding

Jamie Paik, Christoph Heinrich Belke, Meibao Yao

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical fail ...

2018

Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules

Alcherio Martinoli, Bahar Haghighat

Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. One way to address the design of dedicated control rulesets for self-assembling robotic modules is to leverage formalisms based ...

2017

Vacuum-powered Soft Pneumatic Actuator (VSPA) Modules have been described to afford advantages for rapid development of reconfigurable, multi-DoF soft pneumatic robots powered by vacuum by reducing their logistical complexity, however they also present new ...

2017

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C-60 fullerene derivatives bearing aliphatic chains can self-assemble into versatile supramolecular structures. Cross-linking of such self-assembled morphologies is an attractive approach to enhance the structural stability of these self-organized structur ...

Amer Chemical Soc2014

Vesicle Photonics

Demetri Psaltis, Sylvie Roke, Jeffrey Alan Hubbell, Andreas Vasdekis

Amphiphiles, under appropriate conditions, can self-assemble into nanoscale thin membrane vessels (vesicles) that encapsulate and hence protect and transportmolecular payloads.Vesicles assemble naturally within cells but can also be artificially synthesize ...

Annual Reviews2013