Active matters design and control

Dapeng Wang, Steven Ceron

  • We proposed a eel-shape active matters design inspired by the work on Smarticles and physical synchronization in constraint space respectively.

  • Each EEL is controlled by Central Pattern Generator (CPG), and each one is coupled majorly based on physical synchronization.

  • Supervised by Prof.Steven Ceron.

  • This active matters can be controlled in selecting the 'tendency' of generating force impacts on the membrane or stopped EEL from moving agents wihtout explicit model to achieve different dynamics.

  • Can accomplish various tasks of locomotion, obstacles avoidance, and manipulation.

  • My contributions:
    • Mechanical Design.
    • Design and Develop CPG control.
    • Embedded system development.
    • Manufacturing in 3D printing.
    • Circuit design.
    • Paper writing.

  • Accepted to IEEE Robotics and Automation Letter (RA-L) as the first author of 'Oscillating Eel Robots That Leverage Collisions for Controllable Motions'.