Electronically Programmable Shape-Morphing MetaBots

We developed electrically programmable, micrometer-sized metamaterial-based robots (MetaBots) that form 3D surfaces from two-dimensional patterns, cycle among different shapes, and locomote in a biocompatible solvent. These MetaBots have a hierarchical structure: repeating panels linked by origami-based splay hinges, controlled by applying voltage to atomically thin surface electrochemical actuators. Applying a voltage alters the local Gaussian curvature of the MetaBot, allowing it to reconfigure into a 3D surface.

By locally actuating different subsets of splay hinges, we transform the MetaBot into a rich class of 3D shapes. By applying a phase delay between actuating different hinge subsets, we break spatial and temporal symmetry, driving the MetaBots to locomote in biocompatible solution.

To support this work, I developed a physics-based simulator in Unity for control synthesis and a heuristic optimization-based inverse design algorithm to select optimal actuation of splay hinges for desired locomotion.