会变形的机器人碰撞后自发成对移动，形成稳定滑行结构。
Collision Induced Binding and Transport of Shape Changing Robot Pairs
- 通过碰撞与形变实现动态绑定，无需主动控制
- 成对滑行可维持数百次振荡，移动距离超多个机器人尺寸
- 触觉感应调节凹度，稳定临时构型，适合微型机器人协同
我们通过实验与模拟发现，一系列独立振荡的三连杆双马达机器人在局部排斥性碰撞下，自发形成动态绑定的双机器人组。这些物理“滑行器”能从整体中涌现，持续绑定数百次振荡，并移动超过多个机器人尺寸的距离。滑行器呈现两种不同对称性绑定形式，且在广泛的振荡角度范围内均可形成。该角度决定最大凹度，影响成对概率与运动特性。仿真分析揭示了有效动态吸引力的机制——由恰当方向与时序的排斥相互作用共同产生。触觉传感通过调节凹度，稳定短暂存在的构型。
原文摘要 · Abstract (English)
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually undulating three-link two-motor robots and can remain bound for hundreds of undulations and travel for multiple robot dimensions. Gliders occur in two distinct binding symmetries and form over a wide range of angular oscillation extent. This parameter sets the maximal concavity which influences formation probability and translation characteristics. Analysis of dynamics in simulation reveals the mechanism of effective dynamical attraction -- a result of the emergent interplay of appropriately oriented and timed repulsive interactions. Tactile sensing stabilizes the short-lived conformation via concavity modulation.
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