Experimental setup
- Bubble wall rotation controlled in speed and position.
- Computer vision to track the object trajectory.
Morphogenesis-Inspired Reconfigurable Robots in Aquatic Environments.
CREATE Lab, EPFL
March-June 2022
Taking inspiration from morphogenesis, adhesion, and de-adhesion in nature, this project explores how to change the configuration of floating objects in aquatic environments.
Approach
- Floating object behavior is stochastic. By leveraging grouping probabilities, Markov chains can be used to control configuration while taking advantage of the environment.
Understanding object behavior
- Extracted state-transition probability matrices from experimental time series as a Markov chain.
- Selected control strategies based on the greatest probability of reaching the goal state.
Results
- Successful state transition from start to goal states.
- Experimental results followed the predicted trend.
Paper presented at RoboSoft 2025 - DOI: 10.1109/RoboSoft63089.2025.11020845