Programmable matter with self-reconfiguring robots

Abstract

Programmable matter aims to bring machines and materials closer together. We wish to create smart materials whose properties can be programmed, or, alternatively, machines that look and feel more like materials. Programmable matter will be achieved when we will have the ability to create objects whose physical properties, for example shape, stiffness, optical characteristics, acoustic characteristics, and viscosity can be programmed. We are working toward creating materials with embedded sensing, actuation, communication, computation, and connection, which we call SAC3 materials. We are developing two concepts: smart SAC3 sheets that self-fold into origami shapes, and smart SAC3 pebbles that self-sculpt into desired objects. This work is at the intersection of theory, algorithms, device design, and control. This talk will survey the history of programmable matter. We start by discussing robotic self-reconfiguration whose aim is to create modular robots capable of changing shape: hundreds of small modules autonomously organize and reorganize as geometric structures to best fit the terrain on which the robot has to move, the shape of the object the robot has to manipulate, or the sensing needs of the given task. Self-reconfiguration leads to versatile robots that can support multiple modalities of locomotion, manipulation, and perception. We will discuss a spectrum of mechanical and computational capabilities for such systems and detail some recent self-reconfiguring robots. We then discuss programmable matter by smart sheets and smart pebbles. Finally, we discuss the theoretical and systems challenges for realizing the full potential of programmable matter.