Self-reconfiguring Soft Modular Cellbots

In nature, cells combine into different structures to perform required tasks and can break and rejoin to make smaller and larger organisms. Taking inspiration from cells, we present an adaptive soft robot composed of simple modular elements (cells) in a linear arrangement, joined together by magnets, capable of performing locomotion by exploiting frictional asymmetries with the terrain. Using a simple control mechanism to change their volumetric actuation, a travelling wave was generated to move the robot. Based on the inflation profile of the cell, we defined 4 geometric states, S1 (contracted), S2 (relaxed state), S3 (intermediate state) and S4 (inflated). In locomotion gaits, each cell can act as a foot or a muscle, depending on degree of inflation, and change function throughout the gait. The modular robot can also separate itself into multiple parts and recombine as needed, demonstrating attractive capabilities for autonomous exploration in natural environments. This can potentially be used to remove damaged cells or change the shape of the robot body. We present the design of the modular soft robot and demonstrate its locomotion and reconfiguration capabilities.