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Modular soft robots combine the strengths of two traditionally separate areasof robotics. As modular robots, they can show robustness to individual failureand reconfigurability; as soft robots, they can deform and undergo large shapechanges in order to adapt to their environment, and have inherent human safety.However, for sensing and communication these robots also combine the challengesof both: they require solutions that are scalable (low cost and complexity) andefficient (low power) to enable collectives of large numbers of robots, andthese solutions must also be able to interface with the high extension ratioelastic bodies of soft robots. In this work, we seek to address thesechallenges using acoustic signals produced by piezoelectric surface transducersthat are cheap, simple, and low power, and that not only integrate with butalso leverage the elastic robot skins for signal transmission. Importantly, tofurther increase scalability, the transducers exhibit multi-functionality madepossible by a relatively flat frequency response across the audible andultrasonic ranges. With minimal hardware, they enable directional contact-basedcommunication, audible-range communication at a distance, and exteroceptivesensing. We demonstrate a subset of the decentralized collective behaviorsthese functions make possible with multi-robot hardware implementations. Theuse of acoustic waves in this domain is shown to provide distinct advantagesover existing solutions.

Acoustic Communication and Sensing for Inflatable Modular Soft Robots