Engineering self-adaptive modular robotics: A bio-inspired approach

In nature, animal groups achieve robustness and scalability with each individual executes a simple and adaptive strategy. Inspired by this phenomenon, we propose a decentralized control framework for modular robots to achieve coordinated and self-adaptive tasks with each modules performs simple distributed sensing and actuation [1]. In this demonstration, we show that such a framework allows several different modular robotic systems to achieve self-adaptation tasks scal-ably and robustly, examples tasks include module-formed table and bridge that adapt to constantly-perturbed environment, a 3D relief display that renders sophisticated objects, and a tetrahedral robot that performs adaptive locomotion.