GRASPion: An open-source, programmable brainbot for active matter research

Area of Science:

• Robotics
• Active Matter Physics
• Out-of-Equilibrium Systems

Background:

• Studying active matter systems requires controllable and reproducible experimental platforms.
• Existing platforms may lack modularity, programmability, or affordability for widespread research and education.

Purpose of the Study:

• Introduce GRASPion, a compact, open-source bristlebot designed for controlled active matter research.
• Detail its mechanical, electronic, and software design for ease of use and versatility.
• Demonstrate its capabilities in simulating active matter phenomena.

Main Methods:

• Designed a modular bristlebot using 3D-printed parts and an Arduino-compatible board.
• Integrated dual vibrating motors for propulsion and various sensors (IR, color, proximity, magnetometer).
• Developed customizable firmware for diverse motion control and onboard communication.

Main Results:

• The GRASPion robot offers programmable motion control, from ballistic to diffusive regimes.
• Onboard sensors enable real-time interaction and observation of collective behaviors.
• Prototypical experiments demonstrated capabilities in diffusive motion, synchronization, and phototaxis.

Conclusions:

• GRASPion is a robust, scalable, and affordable platform for active matter research and education.
• Its open-source nature and modular design promote accessibility and further development.
• The robot effectively facilitates the study of complex collective behaviors in out-of-equilibrium systems.