Programmable Matter Creating Systems that Can Think, Talk, and Morph Autonomously. Phase 2.

摘要

This report covers the coordinated activities from MIT (PIs Daniela Rus and Erik Demaine), Berkeley University (PIs Ron Fearing and Ali Javey), Harvard University (PI Rob Wood), and the University of Pennsylvania (PIs Vijay Kumar and Mark Yim). Our vision is to create programmable matter analogous to a bag of 'smart sand' or stack of 'smart paper' that will be light and compact and which configures itself into a desired form as needed. We will achieve programmable matter using the paradigm of physically connected small robotic modules which can autonomously reconfigure into a desired goal shape. Programmable matter will enable warfighters to create parts (e.g. wrench, antenna, bench, cup, tripod, splint) on demand. When use is completed, the same material is reconfigured to make new parts with different shapes and functionalities, thus minimizing the overall load on the warfighter. The ability to make generically what is needed, when it is needed, is a ground- breaking leap forward in equipping warfighters for warfare scenarios because the packing list is simplified, the load lightened, and the capabilities increased. Areas of application include construction assembly and repair on the battlefield, the creation of temporary structural support for logistics, adaptive and interchangeable tooling for human assistance, and active formation of sensors, communication, and actuator arrays. We are exploring two different concepts for achieving programmable matter: (1) a subtraction approach inspired by creating functional objects by sculpting; and (2) a folding approach inspired by creating functional objects by origami. These are the most promising approaches to making programmable matter that were identified by the team's prior research into modular small-scale robots and connectors, self-assembly strategies, and information flow.