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Benjamin Gorissen

Publications and source records attributed to Benjamin Gorissen.

3 recordsLinked to original sources

Dynamically enabled transition pathways in multistable systems

Systems composed of interacting bistable elements are commonly described by transition graphs that determine which state changes are accessible under an external drive. Under quasistatic loading, accessibility is constrained by the equilibrium structure of the system, often resulting in sparse transition networks and unreachable stable states. Here, we show that dynamic loading of dissipatively-coupled hysteron networks enhances accessibility by enabling transition pathways that are forbidden under quasistatic driving while preserving the underlying equilibrium states. In particular, we consider pulse actuation and derive a control map linking pulse amplitude and duration to state transitions. For suitable dissipative couplings, individual hysterons become independently addressable using a single scalar input, increasing transition-graph connectivity and enabling access to otherwise unreachable states. We validate the framework experimentally using pneumatic hysterons and find good agreement with theory. More generally, the framework applies to dissipatively coupled networks of bistable elements across fluidic, mechanical, and electrical domains.

cond-mat.soft↗

Reprogrammable sequencing for physically intelligent under-actuated robots

Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic components. In this study, we introduce a novel design approach for physically intelligent under-actuated mechanisms capable of autonomously adjusting their motion in response to environmental interactions. Specifically, multistability is harnessed to sequence the motion of different degrees of freedom in a programmed order. A key aspect of this approach is that these sequences can be passively reprogrammed through mechanical stimuli that arise from interactions with the environment. To showcase our approach, we construct a four degree of freedom robot capable of autonomously navigating mazes and moving away from obstacles. Remarkably, this robot operates without relying on traditional computational architectures and utilizes only a single linear actuator.

cs.RO↗

MuA-Ori: Multimodal Actuated Origami

Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design concept for modular, fluidic actuators that can switch between deformation modes as a response to an input threshold. Our system comprises bistable origami modules in which snapping breaks rotational symmetry, giving access to a bending deformation. By tuning geometry, the modules can be designed to snap at different pressure thresholds, rotate clockwise or counterclockwise when actuated, and bend in different planes. Due to their ability to assume multiple deformation modes as response to a single pressure input we call our system MuA-Ori, or Multimodal Actuated Origami. MuA-Ori provides an ideal platform to design actuators that can switch between different configurations, reach multiple, pre-defined targets in space, and move along complex trajectories.

cs.RO↗