Programmable matter

Knaian, Ara N.

doi:10.1063/pt.3.2020

Cited by 12 publications

(17 citation statements)

References 1 publication

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“…The simulator can readily incorporate such arbitrary nonlinear effects. Reversible module interlinking using magnets 26 or electrostatics 25 is one important class of such nonlinearities. Magnetic interlinking of CKBot module clusters formed the basis of self-reassembly after explosion, 57 and adding such links to our simulation would allow us to anticipate the fracture loads for robots constructed of multiple clusters.…”

Section: Resultsmentioning

confidence: 99%

A general stiffness model for programmable matter and modular robotic structures

et al. 2011

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SUMMARYThe fields of modular reconfigurable robotics and programmable matter study how to compose functionally useful systems from configurations of modules. In addition to the external shape of a module configuration, the internal arrangement of modules and bonds between them can greatly impact functionally relevant mechanical properties such as load bearing ability. A fast method to evaluate the mechanical property aids the search for an arrangement of modules achieving a desired mechanical property as the space of possible configurations grows combinatorially. We present a fast approximate method where the bonds between modules are represented with stiffness matrices that are general enough to represent a wide variety of systems and follows the natural modular decomposition of the system. The method includes nonlinear modeling such as anisotropic bonds and properties that vary as components flex. We show that the arrangement of two types of bonds within a programmable matter systems enables programming the apparent elasticity of the structure. We also present a method to experimentally determine the stiffness matrix for chain style reconfigurable robots. The efficacy of applying the method is demonstrated on the CKBot modular robot and two programmable matter systems: the Rubik's snake folding chain toy and a right angle tetrahedron chain called RATChET7mm. By allowing the design space to be rapidly explored we open the door to optimizing modular structures for desired mechanical properties such as enhanced load bearing and robustness.

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Section: Resultsmentioning

confidence: 99%

A general stiffness model for programmable matter and modular robotic structures

et al. 2011

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“…EPMs are magnetic devices that combine the on/off switching capability (magnetization and demagnetization) of an electromagnet with the magnetic strength of a permanent magnet 15 . These devices, most commonly used in industrial applications 16 , have recently been developed in smaller form factors for several applications including programmable matter 17 , micromotors 18 and reconfigurable smartphones 19 .…”

Section: Introductionmentioning

confidence: 99%

Electropermanent magnet actuation for droplet ferromicrofluidics

Jeffrey

Howe

2016

Technology

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Droplet actuation is an essential mechanism for droplet-based microfluidic systems. On-demand electromagnetic actuation is used in a ferrofluid-based microfluidic system for water droplet displacement. Electropermanent magnets (EPMs) are used to induce 50 mT magnetic fields in a ferrofluid filled microchannel with gradients up to 6.4 × 104 kA/m2. Short 50 µs current pulses activate the electropermanent magnets and generate negative magnetophoretic forces that range from 10 to 70 nN on 40 to 80 µm water-in-ferrofluid droplets. Maximum droplet displacement velocities of up to 300 µm/s are obtained under flow and no-flow conditions. Electropermanent magnet-activated droplet sorting under continuous flow is demonstrated using a split-junction microfluidic design.

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“…Nevertheless, the gripper is limited to smooth surfaces, requires tendon mechanism for attachment, and has a limited payload. OpenGrab EPM 1 is a gripper developed using the principle of electro-permanent magnets [5]. It is a low-weight, energy efficient and high-payload solution developed for robotic applications and because of its advantages, we have decided to use the same principle for our own gripper.…”

Section: A Aerial Grippingmentioning

confidence: 99%

“…The concept of an electro-permanent magnet is based on the physical properties of two different permanent magnets [5]. We consider Alnico and Neodymium magnets.…”

Section: A Electro-permanent Magnetmentioning

confidence: 99%

“…Given that a model-based external disturbances observer based on Extended Kalman Filter (EKF) is employed by the trajectory tracking controller [20] to compensate for external forces, we decided to employ it to detect successful grasping as well. A successful grasping is detected if the following equation holds:F z ≥ F th (5) whereF z is the z component of the estimated external force expressed in world frame and F th is a user defined threshold. In case the object is lost during transport, the MAV returns to the location in which it detected the loss, re-detects the object and performs the servo-positioning from the start.…”

Section: Deliverymentioning

confidence: 99%

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Aerial picking and delivery of magnetic objects with MAVs

Gawel

Kamel

Novković

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Autonomous delivery of goods using a Micro Air Vehicle (MAV) is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration of the objects are unknown.In this paper, we report our findings during the development and evaluation of a fully integrated system that is energy efficient and enables MAVs to pick up and deliver objects with partly ferrous surface of varying shapes and weights. This is achieved by using a novel combination of an electro-permanent magnetic gripper with a passively compliant structure and integration with detection, control and servo positioning algorithms. The system's ability to grasp stationary and moving objects was tested, as well as its ability to cope with different shapes of the object and external disturbances. We show that such a system can be successfully deployed in scenarios where an object with partly ferrous parts needs to be gripped and placed in a predetermined location.

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Programmable matter

Abstract: A new kind of electric motor is the cornerstone of a chain that can bend itself into multiple shapes.

Cited by 12 publications

References 1 publication

A general stiffness model for programmable matter and modular robotic structures

A general stiffness model for programmable matter and modular robotic structures

Electropermanent magnet actuation for droplet ferromicrofluidics

Aerial picking and delivery of magnetic objects with MAVs

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