Topology Design and Optimization of Modular Soft Robots Capable of Homogenous and Heterogenous Reconfiguration

Abstract The deformability of soft material robots provides them with the ability to transform between complex shapes and forms. This unique facilitates Modular Soft Robots (MSoRos) assemble reconfigure into different configurations, e.g., planar spherical. These topologies display widely locomotion modes that are desirable navigate environments, crawling or rolling for these cases. research presents topology design optimization methodology MSoRos capable both homogeneous heterogeneous reconfiguration in spherical configurations. Homogeneous refers scenario when all modules identical, while contains nonidentical modules. sequential approach uses a polyhedron (Archimedean Platonic) as base solid define module characteristics. As processes involve nonlinear projections, also dictates type reconfiguration—heterogeneous (Archimedean) (Platonic). Thereafter, it applies vertex alignment principle ensure geometric during reconfiguration. Planar distortion metrics defined quantify distortions due Subsequently, optimal is obtained by minimizing cost function weighted sum two metrics. result set distinct 1D 2D configurations (both homogeneous) multiple 3D varying radii homogeneous). validated on MSoRo system based combination cuboctahedron solid) cube an octahedron (Platonic solids).