Authors: Da Zhao, Haobo Luo, Yuxiao Tu, Chongxi Meng, Tin Lun Lam
Corresponding author: Tin Lun Lam (Email: [email protected]; Website: https://sites.google.com/site/lamtinlun ​)
Published in: Nature Communications
Paper: https://doi.org/10.1038/s4146702447...
Freeform Robotics: https://freeformrobotics.org

Title:
Snailinspired robotic swarms: a hybrid connector drives collective adaptation in unstructured outdoor environments

Abstract:
Terrestrial selfreconfigurable robot swarms offer adaptable solutions for various tasks. However, most existing swarms are limited to controlled indoor settings, and often compromise stability due to their freeform connections. To address these issues, we present a snail robotic swarm system inspired by land snails, tailored for unstructured environments. Our system also employs a twomode connection mechanism, drawing from the adhesive capabilities of land snails. The free mode, mirroring a snail's natural locomotion, leverages magnetembedded tracks for freeform mobility, thereby enhancing adaptability and efficiency. The strong mode, analogous to a snail's response to disturbance, employs a vacuum sucker with directional polymer stalks for robust adhesion. By assigning specific functions to each mode, our system achieves a balance between mobility and secure connections. Outdoor experiments demonstrate the capabilities of individual robots and the exceptional synergy within the swarm. This research advances the realworld applications of terrestrial robotic swarms in unstructured environments.