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Chemistry is the study of matter and the changes it undergoes. Matter is anything that has mass and occupies space. Matter is all around us; the air, water, soil, mountains, even our bodies are all examples of matter. Matter is divided into three states — solid, liquid, and gas — that are commonly found on earth. The fourth state of matter, plasma, occurs naturally in the interiors of stars. 
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GRASPion: An open-source, programmable brainbot for active matter research.

F Novkoski1, M Mélard2, M Delens2

  • 1PULS, Institute for Theoretical Physics, FAU Erlangen-Nurnberg, 91058 Erlangen, Germany.

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|January 22, 2026
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Summary
This summary is machine-generated.

We developed GRASPion, an affordable, open-source robot for studying active matter. This programmable bristlebot facilitates research into complex behaviors and out-of-equilibrium physics with its versatile design and integrated sensors.

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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.