Collision Induced Self Organization in Shape Changing Robots
Author(s)
Vardhan, Akash
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Abstract
This dissertation explores how collective behaviors emerge in ensembles of active, shape changing robots that interact through collisions on a frictional substrate. This work extends the
granular matter paradigm to encompass internally actuated, concave robots, enabling dynamic
self-organization via shape and gait coordination. Initial studies reveal how pinned robot collectives spontaneously settle into low-rattling, repeatable motion patterns, highlighting the role
of environmental coupling in selecting stable configurations. Focusing next on minimal interaction units, the work uncovers a novel binding mechanism in gliding dyads, where timed,
repulsive contacts and shape-induced concavity produce long-lived gliders. Further analysis
shows that breaking time-reversal symmetry via non-reciprocal gaits enables robust, steerable transport through non-commutative dynamics. In both studies, minimal feedback aids
in harnessing and tuning emergent behavior, laying the groundwork for task-oriented control.
Finally, the study extends to many-body systems, revealing how local interactions scale up to
complex structures—such as chains and loops—whose morphologies depend on gait design.
Across all regimes, template-dictated collisional interactions guide the emergence of persistent, programmable behaviors in robotic granular systems.
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Date
2025-05-01
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Text
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Dissertation