Obilikpa, S.C. orcid.org/0000-0002-7755-4752, Talamali, M.S. orcid.org/0000-0002-2071-4030, Miyauchi, G. orcid.org/0000-0002-3349-6765 et al. (2 more authors) (2025) Scalable plug-and-play robotic fabrics based on Kilobot modules. IEEE Robotics and Automation Letters, 10 (7). pp. 6832-6839. ISSN: 2377-3766
Abstract
This letter presents a framework for producing robotic fabrics using square lattice formations of interlinked Kilobot modules. The framework supports: (i) fabrics of arbitrary size and shape; (ii) different types of deformable links, namely springs and rods; (iii) easy plug-and-play reconfigurability. Two decentralized straight motion controllers are tested with robotic fabrics comprising up to 81 physical modules: an open-loop controller and a controller from the literature that responds to deformations within the fabric. For spring-based robotic fabrics, the deformation-correcting controller performs best overall, whereas for rod-based robotic fabrics, it is outperformed by the open-loop controller. A decentralized turning motion controller is formally derived and examined for either type of fabric, revealing the ability of the robotic fabrics to move along a curved trajectory using open-loop control. Finally, robotic fabrics are shown to perform basic object manipulation tasks. Robotic fabrics that deploy themselves based on distributed, embodied intelligence could pave the way for novel applications, from patching broken pipes to medical uses within the human body.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2025 The Authors. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ |
Keywords: | Cellular and modular robots; distributed robot systems; soft robot materials and design; swarm robotics |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > School of Electrical and Electronic Engineering The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number Engineering and Physical Sciences Research Council EP/V055089/1 Engineering and Physical Sciences Research Council EP/W037009/1 UK Research and Innovation 10048272 Engineering and Physical Sciences Research Council EP/X528493/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 25 Jul 2025 12:14 |
Last Modified: | 25 Jul 2025 12:14 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/lra.2025.3568313 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:229671 |
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Licence: CC-BY 4.0