Computational design and fabrication of modular robots with untethered control

preprint Computational design and fabrication of modular robots with untethered control draft Manas Bhargava author FF8FA64C-AA6A-11E9-99AD-50D4E56974250009-0007-6138-6890 Takefumi Hiraki author Irina-Malina Strugaru author 2afc607f-f128-11eb-9611-8f2a0dfcf074 Yuhan Zhang author Michael Piovarci author 62E473F4-5C99-11EA-A40E-AF823DDC885E0000-0002-5062-4474 Chiara Daraio author Daisuke Iwai author Bernd Bickel author 49876194-F248-11E8-B48F-1D18A9856A870000-0001-6511-9385 BeBi department MATERIALIZABLE: Intelligent fabrication-oriented Computational Design and Modeling project Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this capability of natural organisms, which has motivated the development of numerous soft robotic systems. However, such systems are generally optimized for a single functionality, lack the ability to change form or function on demand, or remain tethered to bulky control systems. To address these limitations, we present a framework for designing and controlling robots that utilize distributed actuation. We propose a novel building block that integrates 3D-printed bones with liquid crystal elastomer (LCE) muscles as lightweight actuators, enabling the modular assembly of musculoskeletal robots. We developed LCE rods that contract in response to infrared radiation, thereby providing localized, untethered control over the distributed skeletal network and producing global deformations of the robot. To fully capitalize on the extensive design space, we introduce two computational tools: one for optimizing the robot's skeletal graph to achieve multiple target deformations, and another for co-optimizing skeletal designs and control gaits to realize desired locomotion. We validate our framework by constructing several robots that demonstrate complex shape morphing, diverse control schemes, and environmental adaptability. Our system integrates advances in modular material building, untethered and distributed control, and computational design to introduce a new generation of robots that brings us closer to the capabilities of living organisms. https://creativecommons.org/licenses/by/4.0/ 2025 eng arXiv 2508.0541010.48550/arXiv.2508.05410 https://research-explorer.ista.ac.at/record/20276 Bhargava, M., Hiraki, T., Strugaru, I.-M., Zhang, Y., Piovarci, M., Daraio, C., … Bickel, B. (n.d.). Computational design and fabrication of modular robots with untethered control. arXiv. <a href="https://doi.org/10.48550/arXiv.2508.05410">https://doi.org/10.48550/arXiv.2508.05410</a> Bhargava M, Hiraki T, Strugaru I-M, Zhang Y, Piovarci M, Daraio C, Iwai D, Bickel B. Computational design and fabrication of modular robots with untethered control. arXiv, <a href="https://doi.org/10.48550/arXiv.2508.05410">10.48550/arXiv.2508.05410</a>. M. Bhargava, T. Hiraki, I.-M. Strugaru, Y. Zhang, M. Piovarci, C. Daraio, D. Iwai, B. Bickel, ArXiv (n.d.). Bhargava, Manas, et al. “Computational Design and Fabrication of Modular Robots with Untethered Control.” ArXiv, doi:<a href="https://doi.org/10.48550/arXiv.2508.05410">10.48550/arXiv.2508.05410</a>. Bhargava, Manas, Takefumi Hiraki, Irina-Malina Strugaru, Yuhan Zhang, Michael Piovarci, Chiara Daraio, Daisuke Iwai, and Bernd Bickel. “Computational Design and Fabrication of Modular Robots with Untethered Control.” ArXiv, n.d. <a href="https://doi.org/10.48550/arXiv.2508.05410">https://doi.org/10.48550/arXiv.2508.05410</a>. M. Bhargava et al., “Computational design and fabrication of modular robots with untethered control,” arXiv. . Bhargava M, Hiraki T, Strugaru I-M, et al. Computational design and fabrication of modular robots with untethered control. arXiv. doi:<a href="https://doi.org/10.48550/arXiv.2508.05410">10.48550/arXiv.2508.05410</a> 202862025-09-04T09:14:11Z2026-07-29T13:03:30Z