# Soft Lattice Modules that Behave Independently and Collectively

arXiv: https://arxiv.org/abs/2110.11485 · HTML: https://mlsanity.com/paper/2110.11485/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Oct 2021.

## Built on by (most cited first, 3 of 3)

- [On the Exploration of LM-Based Soft Modular Robot Design](https://mlsanity.com/paper/2411.00345/) (2024)
- [An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion](https://mlsanity.com/paper/2411.00347/) (2024)
- [Large Language Model-empowered multimodal strain sensory system for shape recognition, monitoring, and human interaction of tensegrity](https://mlsanity.com/paper/2406.10264/) (2024)

## Abstract (arXiv)

Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this paper, we exploit the opportunities presented by soft, modular, and tensegrity robots to introduce soft lattice modules that parallel the sub-units seen in biological systems. The soft lattice modules are comprised of 3D printed plastic "skeletons", linear contracting shape memory alloy spring actuators, and permanent magnets that enable adhesion between modules. The soft lattice modules are capable of independent locomotion, and can also join with other modules to achieve collective, self-assembled, larger scale tasks such as collective locomotion and moving an object across the surface of the lattice assembly. This work represents a preliminary step toward soft modular systems capable of independent and collective behaviors, and provide a platform for future studies on distributed control.