Robotics seminars

Multistable structures can reversibly change between multiple stable configurations when a sufficient energetic input is provided. While originally the field focused on understanding what governs the snapping, more recently it has been shown that these systems also provide a powerful platform to design a wide range of smart structures. In this talk, I will first show that pressure-deployable origami structures characterized by two stable configurations provide opportunities for a new generation of large-scale inflatable structures that lock in place after deployment and provide a robust enclosure through their rigid faces. Then, I will demonstrate that the propagation of transition waves in a bistable one-dimensional linkage can be exploited as a robust mechanism to realize structures that can be quickly deployed. Finally, while in the first two examples multistability is harnessed to realize deployable architectures, I will demonstrate that bistable building blocks can also be exploited to design crawling and jumping robots. Unlike previously proposed robots that require complex input control of multiple actuators, a simple, slow input signal suffices to make our system move, as all features required for locomotion are embedded into the architecture of the building blocks.

From slithering snakes, to entangling robots, self-deforming (shape changing) active systems display surprising dynamics. This is particularly true when such systems interact with environments or other agents to generate self-propulsion (movement). In this talk, I will discuss a few projects from my group illustrating unexpected effects in individual and collectives of self-deformers. For example, snakes and snake-like robots mechanically “diffract” from fixed environmental heterogeneities, collections of smart-active robots (smarticles) can locomote (and phototax) as a collective despite individual immobility, and geometrically actively entangling ensembles of blackworms and robots can self-propel as a unit to thermo or phototax without centralized control.