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Related Experiment Video

Updated: May 22, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Cross-link collective: Entangled robotic matter with cohesive motion.

Danna Ma¹, Baxi Chong², Daniel I Goldman³

¹School of Electrical and Computer Engineering, Cornell University, 455 Hoy Road, Ithaca, NY 14853, USA.

Science Robotics

|May 20, 2026

Summary

This study introduces the cross-link collective, a robotic system using physically entangled modules for emergent collective motion. This adaptable, scalable, and fault-tolerant approach enhances robotic system resilience.

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Area of Science:

Robotics
Soft Matter Physics
Collective Behavior

Background:

Modern robotic applications require systems that are resilient, adaptable, and scalable.
Emergent complex group behavior from local interactions in modular systems is a promising approach.
Maintaining cohesion and functionality without fixed connections or explicit coordination presents a key challenge.

Purpose of the Study:

To introduce a novel robotic system inspired by active gels, termed the cross-link collective.
To demonstrate how physically entangled modules can achieve collective motion and adaptability.
To explore the potential for distributed control to enhance system cohesion.

Main Methods:

Development of a physically entangled robotic system (cross-link collective) inspired by active gel cross-linking.
Utilizing shape morphing and transient entanglement for collective motion.
Investigating mechanically intelligent robot matter that favors specific configurations to reduce joint torques and reconfigure under perturbations.
Implementing distributed control to augment system cohesion.

Main Results:

Individually immobile modules achieve sustained collective motion through shape morphing and transient entanglement.
The mechanically intelligent robot matter exhibits reconfigurable properties in response to perturbations.
Distributed control successfully enhances the cohesion of the cross-link collective.
The system demonstrates adaptability, scalability, and fault tolerance through weak, reversible connections.

Conclusions:

The cross-link collective offers a novel paradigm for resilient, adaptable, and scalable robotic systems.
Physically entangled modular systems can achieve complex behaviors through local interactions and mechanical intelligence.
This approach provides valuable insights for advancements in soft matter and robotics.