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From collections of independent, mindless robots to flexible, mobile, and directional superstructures

hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorBOUDET, Jean-François
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorLINTUVUORI, Juho S.
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorLACOUTURE, Claire
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorBAROIS, T.
hal.structure.identifierUniversity of Amsterdam [Amsterdam] = Universiteit van Amsterdam [UvA]
dc.contributor.authorDEBLAIS, Antoine
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorXIE, Kaili
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorCASSAGNERE, Sébastien
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
dc.contributor.authorTREGON, Bernard
hal.structure.identifierLudwig Maximilian University [Munich] = Ludwig Maximilians Universität München [LMU]
dc.contributor.authorBRÜCKNER, David
hal.structure.identifierCentre de Recherche Paul Pascal [CRPP]
hal.structure.identifierInstitut universitaire de France [IUF]
dc.contributor.authorBARET, Jean-Christophe
hal.structure.identifierLaboratoire Ondes et Matière d'Aquitaine [LOMA]
hal.structure.identifierInstitut universitaire de France [IUF]
dc.contributor.authorKELLAY, Hamid
dc.date.issued2021-07-21
dc.description.abstractEnA swarm of simple active particles confined in a flexible scaffold is a promising system to make mobile and deformable superstructures. These soft structures can perform tasks that are difficult to carry out for monolithic robots because they can infiltrate narrow spaces, smaller than their size, and move around obstacles. To achieve such tasks, the origin of the forces the superstructures develop, how they can be guided, and the effects of external environment, especially geometry and the presence of obstacles, need to be understood. Here, we report measurements of the forces developed by such superstructures, enclosing a number of mindless active rod-like robots, as well as the forces exerted by these structures to achieve a simple function, crossing a constriction. We relate these forces to the self-organization of the individual entities. Furthermore, and based on a physical understanding of what controls the mobility of these superstructures and the role of geometry in such a process, we devise a simple strategy where the environment can be designed to bias the mobility of the superstructure, giving rise to directional motion. Simple tasks—such as pulling a load, moving through an obstacle course, or cleaning up an arena—are demonstrated. Rudimentary control of the superstructures using light is also proposed. The results are of relevance to the making of robust flexible superstructures with nontrivial space exploration properties out of a swarm of simpler and cheaper robots.
dc.description.sponsorshipGuidage des particules artificielles auto-propulsées - ANR-19-CE06-0012
dc.language.isoen
dc.publisherAmerican Association for the Advancement of Science (AAAS)
dc.title.enFrom collections of independent, mindless robots to flexible, mobile, and directional superstructures
dc.typeArticle de revue
dc.identifier.doi10.1126/scirobotics.abd0272
dc.subject.halPhysique [physics]
dc.subject.halSciences de l'ingénieur [physics]/Mécanique [physics.med-ph]
bordeaux.journalScience Robotics
bordeaux.pageeabd0272
bordeaux.volume6
bordeaux.issue56
bordeaux.peerReviewedoui
hal.identifierhal-03298591
hal.version1
hal.popularnon
hal.audienceInternationale
hal.origin.linkhttps://hal.archives-ouvertes.fr//hal-03298591v1
bordeaux.COinSctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=Science%20Robotics&rft.date=2021-07-21&rft.volume=6&rft.issue=56&rft.spage=eabd0272&rft.epage=eabd0272&rft.au=BOUDET,%20Jean-Fran%C3%A7ois&LINTUVUORI,%20Juho%20S.&LACOUTURE,%20Claire&BAROIS,%20T.&DEBLAIS,%20Antoine&rft.genre=article


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