There are many ways to implement programmable matter. One is to build it as a huge modular selfreconfigurable robot composed of a large set of spherical micro-robots, like in the Claytronics project. These micro-robots must be able to stick to each other and move around each other. However, the shape of these micro-robots has not been studied yet and remains a difficult problem as there are numerous constraints to respect. In this article, we propose a quasi-spherical structure for these micro-robots, which answers all the constraints for building programmable matter, helping the realization of an interactive computer-aided design (CAD) framework. We study different scenarios, validate the ability to move and propose methods for manufacturing these micro-robots.

This paper presents a distributed control architecture to perform part recognition and closed-loop control of a distributed manipulation device. This architecture is based on decentralized cells able to communicate with their four neighbors thanks to peer-to-peer links. Various original algorithms are proposed to reconstruct, recognize and convey the object levitating on a new contactless distributed manipulation device. Experimental results show that each algorithm does a good job for itself and that all the algorithms together succeed in sorting and conveying the objects to their final destination. In the future, this architecture may be used to control MEMS-arrayed manipulation surfaces in order to develop Smart Surfaces, for conveying, fine positioning and sorting of very small parts for micro-systems assembly lines.

Programmable matter i.e. matter that can change its physical properties, more likely its shape according to an internal or an external action is a good example of a cybermatics component. As it links a cyberized shape to real matter, it is a straight example of cyber-physical conjugation. But, this interaction between virtual and real worlds needs two elements. The first one is to find a way to represent the cyberized object using programmable matter and the second is to be able to adapt the matter to the cyberized changes. This article presents the progresses made in these two topics within the Claytronics project.