Dynamic Conformation Feedback for Modular Biomimetic Locomotion

• Elvis Mondal

  Author

Modular reconfigurable robots have emerged as a promising paradigm for adaptive locomotion and multifunctional structural systems. However, their widespread adoption is constrained by complex mechanical designs, high manufacturing costs, and limited accessibility. This paper presents the Gluss system, a modular biomimetic robotic architecture based on variable-geometry trusses integrated with a 3D-printable spherical turret joint that enables both locomotion and load-bearing functionality. The proposed system continuously regulates actuator lengths and structural geometry through a dynamic conformation feedback mechanism to maintain stability during adaptive crawling and oozing locomotion across diverse terrains. A theoretical framework is developed by deriving the optimal actuator length ratio from geometric constraints, demonstrating that the achievable limit converges to the golden ratio (φ = 1.618). The hardware implementation employs commercially available linear actuators, Arduino-based control electronics, and additive manufacturing, resulting in an accessible, low-cost, and reproducible platform for modular robotics research. Experimental validation was conducted using the 3TetGlussBot and 5TetGlussBot prototypes, which achieved a maximum locomotion speed of 27~cm/min while successfully traversing multiple terrain types. These results demonstrate the feasibility of dynamic conformation control for scalable modular robotic systems with potential applications in search and rescue, adaptive infrastructure, and programmable robotic materials.

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