January 13, 2026 at 2 PM
Abstract:
Designing robotic systems that can adapt their shape and compliance to environmental constraints remains a major challenge. We introduce Granulobot, a modular robotic system that bridges soft, modular, and swarm robotics. It is composed of magnetically coupled, gear-like units with single actuators that self-assemble into granular aggregates capable of dynamic reconfiguration, splitting, and recombination. These aggregates self-organize into solid- and liquid-like collective states, enabling wide variations in compliance. Furthermore, local actuation and mechanical interactions can drive decentralized self-coordinated locomotion and adaptation without external sensing, coordinates, or inter-unit communication. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.
Inria Bâtiment A
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