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Shengkai Li1, Yasemin Ozkan-Aydin2, Charles Xiao3

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|July 20, 2022
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Active matter locomotion on deformable interfaces was studied using robots on an elastic membrane. Robots reorient based on surface curvature, influencing each other through deformation fields, enabling control over collective behavior.

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Area of Science:

  • Physics
  • Robotics
  • Biology

Background:

  • Active matter systems are driven and damped locomotors studied in physics and biology.
  • Locomotion on deformable interfaces is less understood than on fluids or hard surfaces.
  • Deformable interfaces combine fluid-like and elastic properties, influencing dynamics and geometry.

Purpose of the Study:

  • Investigate principles of locomotion on deformable interfaces.
  • Model active systems on highly deformable surfaces using robots on an elastic membrane.
  • Understand how locomotors influence and are influenced by deformation fields.

Main Methods:

  • Utilized a differential-driven wheeled robotic vehicle as the active agent.
  • Studied single-vehicle interaction with fixed deformations on an elastic membrane.
  • Monitored multi-vehicle interactions mediated by local deformation fields.

Main Results:

  • Single robots exhibited precessing orbits in centrally deformed environments.
  • Multiple robots influenced each other through generated local deformation fields.
  • Developed a differential geometry-inspired mapping to a fictitious spacetime.

Conclusions:

  • Deformable interfaces significantly alter locomotor dynamics.
  • Robot interactions on membranes can be controlled via deformation fields.
  • Mathematical mapping aids understanding and control of collective behavior on deformable interfaces.