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Natural systems integrate the work of many sub-units (cells) toward alarge-scale unified goal (morphological and behavioral), which can counteractthe effects of unexpected experiences, damage, or simply changes in tasksdemands. In this paper, we exploit the opportunities presented by soft,modular, and tensegrity robots to introduce soft lattice modules that parallelthe sub-units seen in biological systems. The soft lattice modules arecomprised of 3D printed plastic "skeletons", linear contracting shape memoryalloy spring actuators, and permanent magnets that enable adhesion betweenmodules. The soft lattice modules are capable of independent locomotion, andcan also join with other modules to achieve collective, self-assembled, largerscale tasks such as collective locomotion and moving an object across thesurface of the lattice assembly. This work represents a preliminary step towardsoft modular systems capable of independent and collective behaviors, andprovide a platform for future studies on distributed control.

Soft Lattice Modules that Behave Independently and Collectively