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Updated: May 22, 2026
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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.
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.
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